System for guiding capsule medical device

ABSTRACT

A system for guiding a capsule medical device is provided with a capsule medical device, a magnetic guidance device, and an image display device. The capsule medical device is provided with an imaging unit and a permanent magnet having a known magnetization direction relatively fixed with respect to an upward/downward direction of an imaging surface, and has a center of gravity deviated from a geometric center of the capsule casing in a direction parallel to a plane parallel to a magnetization direction and an imaging direction and different from the magnetization direction, and maintains a specific state in which the magnetization direction and the imaging direction are parallel to a vertical plane in liquid introduced into the subject. The image display device displays the in-vivo image by conforming a direction of intersection line of the imaging surface and the vertical plane to an upward and downward direction of a display screen.

CROSS-REFERENCE TO RELATED APPLICATIONS

This non-provisional application claims the benefit of U.S. ProvisionalApplication Ser. No. 61/078,832, filed Jul. 8, 2008.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a system for guiding capsule medicaldevice for magnetically guiding a capsule medical device introduced intoan organ of a subject such as a patient.

2. Description of the Related Art

Conventionally, the capsule medical device provided with an imagingfunction and a radio communication function in a capsule casing, whichcan be introduced into the organ of the subject such as the patient, hasappeared. The capsule medical device is introduced into the organ of thesubject by oral intake or the like, and thereafter moves in thedigestive tract by a peristaltic action or the like. Such a capsulemedical device in the subject sequentially images images in the organ ofthe subject (hereinafter, also referred to as in-vivo images) in a timeperiod from introduction into the organ of the subject to discharge outof the same, and sequentially transmits by radio the obtained in-vivoimages to a receiving device outside of the subject.

The in-vivo image imaged by such a capsule medical device is captured inan image display device through the receiving device. The image displaydevice displays the captured in body images on a display by still imagedisplay or moving image display. A user such as a doctor or a nurseobserves the in-vivo image of the subject displayed on the image displaydevice, and examines inside of the organ of the subject through anobservation of such an in-vivo image.

Recently, on the other hand, the system for guiding capsule medicaldevice for magnetically guiding (hereinafter, referred to as magneticguidance) the capsule medical device in the subject is suggested. (referto the Japanese Patent Applications Laid-Open Nos. 2006-263167 and2007-330811, for example). In general, in the system for guiding capsulemedical device, the capsule medical device is further provided with apermanent magnet in the capsule casing, and the image display devicedisplays the in-vivo images sequentially imaged by the capsule medicaldevice in the subject in real time. The system for guiding capsulemedical device applies a magnetic field to the capsule medical device insuch a subject, and magnetically guides the capsule medical device inthe subject to a desired location by magnetic force of the appliedmagnetic field. The user uses an operating unit of the system forguiding capsule medical device to operate the magnetic guidance of sucha capsule medical device while referring to the in-vivo image displayedon the image display device.

SUMMARY OF THE INVENTION

A system for guiding capsule medical device according to an aspect ofthe present invention includes a capsule medical device provided with animaging unit for imaging an in-vivo image of a subject and a permanentmagnet magnetizing in a known direction relatively fixed with respect toan upward and downward direction of an imaging surface of the imagingunit in a capsule casing, the capsule medical device having a center ofgravity at a location deviated from a geometric center of the capsulecasing in a direction parallel to a plane parallel to a magnetizationdirection of the permanent magnet and an imaging direction of theimaging unit and different from the magnetization direction of thepermanent magnet, and the capsule medical device maintaining a specificstate in which the magnetization direction of the permanent magnet andthe imaging direction of the imaging unit are parallel to a verticalplane in liquid introduced into the subject; a magnetic guidance devicethat applies a magnetic field to the permanent magnet to magneticallyguide the capsule medical device in the liquid while maintaining thespecific state; and an image display device that displays the in-vivoimage by conforming a direction of intersection line of the imagingsurface and the vertical plane in the in-vivo image to an upward anddownward direction of the display screen.

The above and other features, advantages and technical and industrialsignificance of this invention will be better understood by reading thefollowing detailed description of presently preferred embodiments of theinvention, when considered in connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram schematically showing one configurationexample of a system for guiding capsule medical device according to afirst embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view showing one configurationexample of a capsule medical device, which is a magnetic guidance targetof the system for guiding capsule medical device according to thepresent invention;

FIG. 3 is a schematic diagram showing one example of a relativearrangement state between a solid-state imaging device and a permanentmagnet in the capsule medical device;

FIG. 4 is a schematic diagram showing one example of a state in whichthe capsule medical device floats in liquid in a subject;

FIG. 5 is a schematic diagram showing one example of a specific state,which the capsule medical device maintains in the liquid in the subject;

FIG. 6 is a schematic diagram showing one example of a display mode ofan image display device according to the first embodiment of the presentinvention;

FIG. 7 is a schematic diagram showing one configuration example of amagnetic field generator, which is a part of the magnetic guidancedevice;

FIG. 8 is a schematic diagram showing a drive state of a movable bed,which is a part of the magnetic guidance device;

FIG. 9 is a schematic diagram showing one example of an operation inputunit according to the first embodiment of the present invention;

FIG. 10 is a schematic diagram for illustrating magnetic guidance of thecapsule medical device operable by an operation input unit;

FIG. 11 is a schematic diagram showing one display mode example of adisplay unit of a control device;

FIG. 12 is a flowchart showing one example of a procedure of the imagedisplay device according to the first embodiment of the presentinvention;

FIG. 13 is a schematic diagram illustrating a calculation process of adirection of intersection line of an imaging surface and a verticalplane in an in-vivo image;

FIG. 14 is a schematic diagram illustrating an image display processdisplaying the in-vivo image by conforming the direction of intersectionline of the in-vivo image and an upward and downward direction of adisplay screen;

FIG. 15 is a schematic diagram showing one example of a moving directionof an operation target image in association with an operation of themagnetic guidance of the capsule medical device;

FIG. 16 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to asecond embodiment of the present invention;

FIG. 17 is a schematic diagram showing one example of the display modeof the image display device according to the second embodiment of thepresent invention;

FIG. 18 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to athird embodiment of the present invention;

FIG. 19 is a schematic diagram showing one configuration example of theoperation input unit of the third embodiment of the present invention;

FIG. 20 is a schematic diagram showing one example of the display modeof the image display device according to the third embodiment of thepresent invention;

FIG. 21 is a schematic diagram illustrating the display process ofinformation indicating that elevation angle information and operationinformation of the capsule medical device are input, by the imagedisplay device;

FIG. 22 is a schematic diagram illustrating the display process ofdirection angle information of the capsule medical device, by the imagedisplay process;

FIG. 23 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to afourth embodiment of the present invention;

FIG. 24 is a schematic diagram showing one example of the display modeof the image display device according to the fourth embodiment of thepresent invention;

FIG. 25 is a schematic diagram showing one configuration example of theoperation input unit of the fourth embodiment of the present invention;

FIG. 26 is a flowchart showing one example of the procedure of a controldevice of the system for guiding capsule medical device according to thethird embodiment of the present invention;

FIG. 27 is a schematic diagram showing a state in which the imagedisplay device according to the third embodiment switches the operationtarget image;

FIG. 28 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to afifth embodiment of the present invention;

FIG. 29 is a schematic diagram illustrating the magnetic guidance of thesystem for guiding capsule medical device of the fifth embodiment of thepresent invention;

FIG. 30 is a schematic diagram showing one example of the display modeof the image display device according to the fifth embodiment of thepresent invention;

FIG. 31 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to asixth embodiment of the present invention;

FIG. 32 is a flowchart showing one example of the procedure of thecontrol device when magnetically guiding the capsule medical device in astate floating on a liquid surface under the liquid surface;

FIG. 33 is a schematic diagram showing a state in which an effect ofsurface tension of the liquid surface on the capsule medical device iseliminated;

FIG. 34 is a schematic diagram showing a state a position of the capsulemedical device in the liquid is returned;

FIG. 35 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to aseventh embodiment of the present invention;

FIG. 36 is a schematic diagram showing one configuration diagram of thecapsule medical device according to the seventh embodiment of thepresent invention;

FIG. 37 is a schematic diagram showing a state in which the capsulemedical device according to the seventh embodiment of the presentinvention is magnetically guided in a long axis direction;

FIG. 38 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according to aneighth embodiment of the present invention;

FIG. 39 is a schematic diagram showing one configuration example of thecapsule medical device according to the eighth embodiment of the presentinvention;

FIG. 40 is a schematic diagram showing one modification of a magneticfield generator of the system for guiding capsule medical deviceaccording to the present invention;

FIG. 41 is a schematic diagram showing one example of each moving stateof a table portion of a bed and the magnetic field generator;

FIG. 42 is a schematic diagram showing a modification of a state clearlyshowing the operation target image in the image display device accordingto the present invention;

FIG. 43 is a schematic diagram showing a modification of a display stateof the direction angle information of the capsule medical device;

FIG. 44 is a schematic diagram showing a modification of the displaystate of the elevation angle information;

FIGS. 45A to 45D are schematic diagrams each showing a modification ofthe capsule medical device floatable on the liquid surface according tothe present invention; and

FIGS. 46A to 46D are schematic diagrams each showing a specific exampleof the capsule medical device sinkable under the liquid surfaceaccording to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, a system for guiding capsule medical device, which is abest mode for carrying out the present invention, is described.Meanwhile, although a capsule medical device incorporating a function ofimaging an in-vivo image and a radio communication function isillustrated hereinafter as one example of the capsule medical device,which is magnetically guided by the system for guiding capsule medicaldevice according to the present invention, the present invention is notlimited to this embodiment.

First, the system for guiding capsule medical device according to afirst embodiment of the present invention is described. FIG. 1 is ablock diagram schematically showing one configuration example of thesystem for guiding capsule medical device according to the firstembodiment of the present invention. As shown in FIG. 1, the system forguiding capsule medical device 1 according to the first embodiment isprovided with a capsule medical device 2 for imaging the in-vivo imageof a subject 100 such as a patient, a magnetic guidance device 3 formagnetically guiding the capsule medical device 2 in the subject 100, adrive controller 6 for controlling drive of the magnetic guidance device3, a power unit 7 for supplying power to the magnetic guidance device 3,and a cooling device 8 for cooling the magnetic guidance device 3. Also,the system for guiding capsule medical device 1 is provided with areceiving device 9 for receiving an image signal from the capsulemedical device 2 in the subject 100, an image display device 10 fordisplaying the in-vivo image imaged by the capsule medical device 2 inthe subject 100, an operation input unit 15 for operating magneticguidance of the capsule medical device 2, and a control device 16 forcontrolling the magnetic guidance of the capsule medical device 2.

The capsule medical device 2 is a capsule-type medical device forobtaining the in-vivo image of the subject 100, and incorporates theimaging function and the radio communication function. The capsulemedical device 2 is introduced into an organ of the subject 100 by oralintake or the like. Thereafter, the capsule medical device 2 in thesubject 100 moves in a digestive tract to be finally discharged out ofthe subject 100. The capsule medical device 2 sequentially images thein-vivo images of the subject 100 in a time period from introductioninto the subject 100 to discharge out of the same, and sequentiallytransmits by radio the obtained in-vivo images to an external receivingdevice 9. In addition, the capsule medical device 2 incorporates amagnetic body such as a permanent magnet. The capsule medical device 2floats in liquid 101 introduced into the organ (such as stomach) of thesubject 100, and is magnetically guided by an external magnetic guidancedevice 3.

The magnetic guidance device 3 is for magnetically guiding the capsulemedical device 2 in the subject 100, and is provided with a bed 4 forsupporting the subject 100, and a magnetic field generator 5 forgenerating a guidance magnetic field for magnetically guiding thecapsule medical device 2 in the subject 100.

The bed 4 is a movalbe bed of which table portion for supporting thesubject 100 is movable, and is provided with a drive unit 4 a. The driveunit 4 a is realized by using an actuator, rail, and the like forrealizing movement of such a table portion. The drive unit 4 a drivesbased on control of the drive controller 6, and parallelly moves thetable portion of the bed 4 in a state of supporting the subject 100 fromfront to back and from side to side. The bed 4 changes a relativelocation of the subject 100 with respect to the magnetic field generator5 by an action of the drive unit 4 a.

The magnetic field generator 5 is realized by using a plurality of coilsor the like to generate the guidance magnetic field by using the powersupplied by the power unit 7. The magnetic field generator 5 applies thegenerated guidance magnetic field to the magnetic body in the capsulemedical device 2 to magnetically capture the capsule medical device 2 byan action of the guidance magnetic field.

The magnetic guidance device 3 provided with the bed 4 and the magneticfield generator 5 magnetically guides the capsule medical deice 2 in thesubject 100 on the bed 4 by combining the drive of the bed 4 and theguidance magnetic field by the magnetic field generator S. Specifically,the magnetic guidance device 3 changes the relative location between thesubject 100 and the magnetic field generator 5 by the drive of the bed 4while magnetically capturing the capsule medical device 2 in the subject100 by the action of the guidance magnetic field by the magnetic fieldgenerator 5, thereby controlling a three-dimensional location of thecapsule medical device 2 in the subject 100. Also, the magnetic guidancedevice 3 controls three-dimensional position of the capsule medicaldevice 2 in the subject 100 by changing a magnetic field direction ofthe guidance magnetic field acting on the capsule medical device 2 inthe subject 100.

The drive controller 6 controls the drive unit 4 a of theabove-described bed 4 based on the control of the control device 16.Specifically, the drive controller 6 controls the drive unit 4 a toparallelly move the table portion of the bed 4 in a directioncorresponding to a magnetic guidance direction of the capsule medicaldevice 2 in the subject 100. The power unit 7 supplies power (such asalternating current) required for generating the above-describedguidance magnetic field to the magnetic field generator 5 based on thecontrol of the control device 16. In this case, the power unit 7appropriately supplies the required power to each of a plurality ofcoils included in the magnetic field generator 5. Meanwhile, themagnetic field direction and magnetic field strength of the guidancemagnetic field by the above-described magnetic field generator 5 arecontrolled by a current amount from the power unit 7 to each coil in themagnetic field generator 5. The cooling device 8 cools theabove-described magnetic field generator 5, thereby preventing atemperature of the magnetic field generator 5 from rising due to thegeneration of the guidance magnetic field.

The receiving device 9 is provided with a plurality of antennas 9 a, andreceives the in-vivo image of the subject 100 from the capsule medicaldevice 2 through the antennas 9 a. Specifically, the antennas 9 a aredispersedly arranged on a body surface of the subject 100 to capture aradio signal transmitted by the capsule medical device 2 in the subject100. The receiving device 9 sequentially receives the radio signal fromthe capsule medical device 2 through the antennas 9 a. The receivingdevice 9 selects the antenna of which received electric-field strengthis the highest from the antennas 9 a, and performs a demodulationprocess or the like on the radio signal from the capsule medical device2 received through the selected antenna. Thereby, the receiving device 9extracts image data by the capsule medical device 2, that is to say,in-vivo image data of the subject 100, from the radio signal. Thereceiving device 9 transmits the image signal including the extractedin-vivo image data to the image display device 10.

The image display device 10 is provided with an input unit 11, a displayunit 12, a storage unit 13, and a controller 14 as shown in FIG. 1, anddisplays the in-vivo image of the subject 100 by the capsule medicaldevice 2 in a display mode in which an upward and downward direction ofan object in the in-vivo image associated with the magnetic guidance ofthe capsule medical device 2 and an upward and downward direction of adisplay screen conform to each other. The upward and downward directionof the object used herein may include an upward and downward movingdirection of the object in the in-vivo image associated with themagnetic guidance of the capsule medical device 2. This applies also tothe upward and downward direction of the object in the presentinvention.

The input unit 11 is realized by using an input device such as akeyboard and a mouse to input various pieces of information to thecontroller 14 in response to an input operation by a user such as adoctor and a nurse. The various pieces of information input by the inputunit 11 to the controller 14 include instruction information to instructthe controller 14, patient information and examination information ofthe subject 100, for example. Meanwhile, the patient information of thesubject 100 is specifying information to specify the subject 100, andincludes, for example, a patient name, a patient ID, a birth date, sex,age of the subject 100. Also, the examination information of the subject100 is the specifying information to specify an examination to observean inside of the digestive tract by introducing the capsule medicaldevice 2 into the digestive tract of the subject 100, and includes, forexample, an examination ID, and an examination date.

The display unit 12 is realized by using various displays such as a CRTdisplay or a liquid crystal display to display the various pieces ofinformation instructed to be displayed by the controller 14.Specifically, the display unit 12 displays an in-vivo image group of thesubject 100 imaged by the capsule medical device 2, for example, basedon the control of the controller 14. In this case, the display unit 12displays each in-vivo image in such an in-vivo image group as a stillimage or as a moving image by conforming the upward and downwarddirection of the object in the in-vivo image associated with themagnetic guidance of the capsule medical device 2 to the upward anddownward direction of the display screen. Also, the display unit 12displays a reduced image of the in-vivo image, which is selected ormarked by the input operation of the input unit 11 from such an in-vivoimage group, the patient information, the examination information, andthe like of the subject 100.

The storage unit 13 is realized by using a storage medium such as aflash memory or a hard disk for rewritably saving the information. Thestorage unit 13 stores the various pieces of information instructed tobe stored by the controller 14 and transmits the information instructedto be read from the stored various pieces of information by thecontroller 14 to the controller 14. Meanwhile, the various pieces ofinformation stored in the storage unit 13 includes each image data inthe in-vivo image group of the subject 100 imaged by the capsule medicaldevice 2, data of the in-vivo image selected or marked from each in-vivoimage displayed on the display unit 12 by the input operation of theinput unit 11, and input information by the input unit 11 such as thepatient information of the subject 100, for example.

The controller 14 controls each operation of the input unit 11, thedisplay unit 12, and the storage unit 13, which are components of theimage display device 10, and controls input and output of the signalamong each component. Specifically, the controller 14 controls thedisplay unit 12 to sequentially obtain the in-vivo images of the subject100 imaged by the capsule medical device 2 from the receiving device 9,and to display each of the obtained in-vivo images of the subject 100 inreal time. Next, the controller 14 controls the storage unit 13 to storethe in-vivo image group of the subject 100 obtained from the receivingdevice 9. Also, when the instruction information to instruct toselectively save the in-vivo image is input by the input unit 11, thecontroller 14 extracts the in-vivo image instructed to be saved by theinstruction information (that is to say, the selected image by the user)from the in-vivo image group of the subject 100. The controller 14controls the display unit 12 to add a mark to the extracted in-vivoimage, and controls the storage unit 13 to store the in-vivo image datawith the mark in association with each other. Further, the controller 14controls the display unit 12 to additionally display the reduced image(such as a thumbnail image) of the in-vivo image. On the other hand,when the instruction information to instruct to switch the display modeof the in-vivo image is input by the input unit 11, the controller 14controls the display unit 12 to switch a display format of each in-vivoimage of the subject 100 from the moving image display to the stillimage display, or controls the display unit 12 to switch from the stillimage display to the moving image display, based on the instructioninformation.

Also, the controller 14 has an image processor 14 a. The image processor14 a generates various pieces of image information to be displayed onthe display unit 12. Specifically, the image processor 14 a obtains animage signal from the receiving device 9, and performs predeterminedimage processing to the obtained image signal to generate the in-vivoimage of the subject 100, that is to say, the in-vivo image imaged bythe capsule medical device 2. The image processor 14 a sequentiallygenerates the in-vivo image of the subject 100 based on the obtainedimage signal, each time the image processor 14 a obtains the imagesignal from the receiving device 9. Also, the image processor 14 aconforms the upward and downward direction of the object in the in-vivoimage associated with the magnetic guidance of the capsule medicaldevice 2 to the upward and downward direction of the display screen ofthe display unit 12, for each in-vivo image of the subject 100. In thiscase, the image processor 14 a conforms a direction of intersection lineof an imaging surface of the capsule medical device 2 and a verticalplane in such an in-vivo image to the upward and downward direction ofthe display screen of the display unit 12. The controller 14 allows thedisplay unit 12 to display each in-vivo image of the subject 100 in thedisplay mode in which such a direction of intersection line and theupward and downward direction of the display screen conform to eachother.

The operation input unit 15 is for operating the magnetic guidance ofthe capsule medical device 2 by the above-described magnetic guidancedevice 3. Specifically, the operation input unit 15 is realized by usingvarious input devices such as a joystick, a keyboard, and a mouse. Theoperation input unit 15 inputs various pieces of information to thecontrol device 16 in response to the input operation by the user such asthe doctor or the nurse. Meanwhile, the various pieces of information tobe input to the control device 16 by the operation input unit 15includes, for example, operation information to specify the magneticguidance direction and a magnetic guidance speed of the capsule medicaldevice 2, which is a magnetic guidance operational target, physicalinformation such as mass, a shape, a location of center of gravity, andmagnetic moment of the capsule medical device 2, and density informationof the liquid 101 in which the capsule medical device 2 floats in thesubject 100.

The control device 16 is provided with a display unit 17, a storage unit18, and a controller 19, as shown in FIG. 1, and controls the magneticguidance of the capsule medical device 2 by the magnetic guidance device3 based on the operation information input by the operation input unit15.

The display unit 17 is realized by using various displays such as theCRT display or the liquid crystal display to display various pieces ofinformation instructed to be displayed by the controller 19.Specifically, the display unit 17 displays information indicating thelocation, the position, the direction or the like of the capsule medicaldevice 2 in the subject 100, relative location information of theoperation input unit 15 with respect to the bed 4, body postureinformation of the subject 100 on the bed 4, and the like, based on thecontrol of the controller 19.

The storage unit 18 is realized by using the storage medium such as theflash memory or the hard disk for rewritably saving the information. Thestorage unit 18 stores various pieces of information instructed to bestored by the controller 19, and transmits the information instructed tobe read from the stored various pieces of information by the controller19 to the controller 19. Meanwhile, the various pieces of informationstored in the storage unit 18 include, for example, the physicalinformation of the capsule medical device 2, the density information ofthe liquid 101, the operation information of the capsule medical device2, information of a magnetic guidance state (location, position, anddirection) of the capsule medical device 2 in the subject 100.

The controller 19 controls each operation of the display unit 17 and thestorage unit 18, which are components of the control device 16, andcontrols input and output of the signal among each component and inputof the signal from the operation input unit 15. Specifically, when theoperation information is input by the operation input unit 15, thecontroller 19 controls the magnetic guidance device 3 to perform themagnetic guidance of the capsule medical device 2 according to themagnetic guidance direction and the magnetic guidance speed specified bythe input operation information. In this case, the controller 19controls the current amount of the power unit 7 relative to the magneticfield generator 5 based on the input operation information, and controlsthe magnetic field generator 5 to generate the guidance magnetic fieldrequired for the magnetic guidance of the capsule medical device 2according to the magnetic guidance direction and the magnetic guidancespeed based on the operation information, through the control of thepower unit 7. Also, the controller 19 controls the drive controller 6based on the operation information, and controls the drive unit 4 a toparallelly move the table portion of the bed 4 according to the magneticguidance direction and the magnetic guidance speed based on theoperation information, through the control of the drive controller 6.

Also, the controller 19 has an image processor 19 a. The image processor19 a generates the various pieces of image information to be displayedon the display unit 17. Specifically, the image processor 19 a generatesthe image information indicating the magnetic guidance state of thecapsule medical device 2 in the subject 100. More specifically, theimage processor 19 a generates the image information indicating thelocation, the image information indicating the position, and the imageinformation indicating the direction of the capsule medical device 2 inthe subject 100, as the image information indicating the magneticguidance state of the capsule medical device 2. Also, the imageprocessor 19 a generates the image information indicating the relativelocation of the operation input unit 15 with respect to the bed 4 andthe image information indicating the body posture of the subject 100 onthe bed 4. The controller 19 allows the display unit 17 to display thevarious pieces of image information generated by the image processor 19a, and controls the display unit 17 to update the image informationindicating the location, the image information indicating the position,and the image information indicating the direction of the capsulemedical device 2 according to a result of the magnetic guidance of thecapsule medical device 2.

Next, the capsule medical device 2, which is the magnetic guidancetarget of the system for guiding capsule medical device 1 according tothe first embodiment of the present invention, is described. FIG. 2 is aschematic cross-sectional view showing one configuration example of thecapsule medical device, which is the magnetic guidance target of thesystem for guiding capsule medical device according to the presentinvention. As shown in FIG. 2, the capsule medical device 2 is providedwith a capsule casing 20, which is an outer cover formed into a size soas to be easily introduced into the organ of the subject 100, andimaging units 21 and 22 for imaging the images of the object in imagingdirections different from each other. Also, the capsule medical device 2is provided with a radio communication unit 23 for transmitting by radioeach image imaged by the imaging units 21 and 22 to the outside, acontroller 24 for controlling each component of the capsule medicaldevice 2, and a power unit 25 for supplying power to each component ofthe capsule medical device 2. Further, the capsule medical device 2 isprovided with a permanent magnet 26 for enabling the magnetic guidanceby the above-described magnetic guidance device 3.

The capsule casing 20 is an outer cover case formed into a sizeintroducible into the organ of the subject 100, and is realized byblocking both side opening ends of a cylindrical casing 20 a withdome-shaped casings 20 b and 20 c. The dome-shaped casings 20 b and 20 care dome-shaped optical members transparent to light having apredetermined wavelength band such as visible light. The cylindricalcasing 20 a is a colored casing substantially opaque to the visiblelight. The capsule casing 20 formed of the cylindrical casing 20 a andthe dome-shaped casings 20 b and 20 c liquid-tightly includes theimaging units 21 and 22, the radio communication unit 23, the controller24, the power unit 25, and the permanent magnet 26, as shown in FIG. 2.

The imaging units 21 and 22 image the images in the imaging directionsdifferent from each other. Specifically, the imaging unit 21 has anilluminating unit 21 a such as an LED, an optical system 21 b such as alight focus lens, and a solid-state imaging device 21 c such as a CMOSimage sensor or a CCD. The illuminating unit 21 a emits illuminationlight such as white light to an imaging field A1 of the solid-stateimaging device 21 c to illuminate the object in the imaging field A1(such as an inner wall of the organ on an imaging field A1 side in thesubject 100) through the dome-shaped casing 20 b. The optical system 21b focuses reflected light from the imaging field A1 on an imagingsurface of the solid-state imaging device 21 c to form an object targetimage of the imaging field A1 on the imaging surface of the solid-stateimaging device 21 c. The solid-state imaging device 21 c receives thereflected light from the imaging field A1 through the imaging surface,and performs a photoelectric conversion process on the received opticalsignal to image the object target image of the imaging field A1, that isto say, the in-vivo image of the subject 100.

The imaging unit 22 has an illuminating unit 22 a such as the LED, anoptical system 22 b such as the light focus lens, and a solid-stateimaging device 22 c such as the CMOS image sensor or the CCD. Theilluminating unit 22 a emits illumination light such as the white lightto an imaging field A2 of the solid-state imaging device 22 c toilluminate the object in the field A2 (such as the inner wall of theorgan on an imaging field A2 side in the subject 100) through thedome-shaped casing 20 c. The optical system 22 b focuses the reflectedlight from the imaging field A2 on an imaging surface of the solid-stateimaging device 22 c to form the object target image of the imaging fieldA2 on the imaging surface of the solid-state imaging device 22 c. Thesolid-state imaging device 22 c receives the reflected light from theimaging field A2 through the imaging surface, and performs thephotoelectric conversion process on the received optical signal to imagethe object image of the imaging field A2, that is to say, the in-vivoimage of the subject 100.

Meanwhile, when the capsule medical device 2 is a twin-lens capsulemedical device for imaging forward and backward in a long axis directionas shown in FIG. 2, each optical axis of the imaging units 21 and 22 aresubstantially parallel to or substantially conform to a long axis 27,which is a central axis in a longitudinal direction of the capsulecasing 20. In addition, directions of the imaging fields A1 and A2 ofthe imaging units 21 and 22, respectively, that is to say, the imagingdirections of the imaging units 21 and 22, respectively, are opposite toeach other.

The radio communication unit 23 is provided with an antenna 23 a, andsequentially transmits by radio each image imaged by the above-describedimaging units 21 and 22 to the outside through the antenna 23 a.Specifically, the radio communication unit 23 obtains the image signalof the in-vivo image of the subject 100 imaged by the imaging unit 21 or22 from the controller 24, and performs a modulation process or the likeon the obtained imaging signal to generate a radio signal obtained bymodulating the image signal. The radio communication unit 23 transmitssuch a radio signal to the external receiving device 9 (refer to FIG. 1)through the antenna 23 a.

The controller 24 controls each operation of the imaging units 21 and 22and the radio communication unit 23, which are components of the capsulemedical device 2, and controls input and output of the signal among eachof such components. Specifically, the controller 24 allows thesolid-state imaging device 21 c to image the image of the object in theimaging field A1 illuminated by the illuminating unit 21 a, and allowsthe solid-state imaging device 22 c to image the image of the object inthe imaging field A2 illuminated by the illuminating unit 22 a.

Also the controller 24 has a signal processing function to generate theimage signal. The controller 24 performs predetermined signal processingon the in-vivo image data each time the controller 24 obtains thein-vivo image data of the imaging field A1 from the solid-state imagingdevice 21 c to generate the image signal including the in-vivo imagedata of the imaging field A1. Similarly, the controller 24 performs thepredetermined signal processing on the in-vivo image each time thecontroller 24 obtains the in-vivo image data of the imaging field A2from the solid-state imaging device 22 c to generate the image signalincluding the in-vivo image data of the imaging field A2. The controller24 controls the radio communication unit 23 to sequentially transmit byradio each of the image signals to the outside in chronological order.

The power unit 25 is realized by using a capacitor unit such as a buttonbattery or a capacitor, and a switch unit such as a magnetic switch. Thepower unit 25 switches on/off states of the power supply by the magneticfield externally applied, and at the time of on-state, the power unit 25appropriately supplies power in the capacitor unit to each component(the imaging units 21 and 22, the radio communication unit 23, and thecontroller 24) of the capsule medical device 2. Also, the power unit 25stops supplying power to each component of the capsule medical device 2at the time of off-state.

The permanent magnet 26 is for enabling the magnetic guidance of thecapsule medical device 2 by the above-described magnetic guidance device3. The permanent magnet 26 is arranged in the capsule casing 20 in astate relatively fixed with respect to the above-described imaging units21 and 22. In this case, the permanent magnet 26 is magnetized in aknown direction relatively fixed with respect to the upward and downwarddirection of each imaging surface of the solid-state imaging devices 21c and 22 c. A magnetization direction of the permanent magnet 26 isparallel to a direction perpendicular to the long axis 27 of the capsulecasing 20 (that is to say, a radial direction of the capsule casing 20).Also, a central axis 26 a of the permanent magnet 26 is parallel to thelong axis 27 of the capsule casing 20 and deviates from a center ofgravity 29 of the capsule medical device 2. That is to say, the centerof gravity 29 of the capsule medical device 2 is not located on thecentral axis 26 a of the permanent magnet 26. The central axis 26 a ofthe permanent magnet 26 is one of rotational axes about which thepermanent magnet 26 rotates following the above-described guidancemagnetic field. Meanwhile, the central axis 26 a of the permanent magnet26 may conform to the long axis 27 of the capsule casing 20.

The guidance magnetic field is applied to the permanent magnet 26 thusarranged from the outside of the capsule medical device 2 by themagnetic field generator 5 shown in FIG. 1. The permanent magnet 26moves following such a guidance magnetic field, and consequentlyrealizes the magnetic guidance of the capsule medical device 2 by themagnetic guidance device 3. In this case, the capsule medical device 2performs an operation to change at least one of the location, theposition, and the direction in the subject 100 by an action of thepermanent magnet 26. Alternatively, the capsule medical device 2maintains a state of being stopped at a desired location in the subject100 by the action of the permanent magnet 26.

Next, relative relation between the solid-state imaging devices 21 c and22 c and the permanent magnet 26 incorporated in the capsule medicaldevice 2 is described. FIG. 3 is a schematic diagram showing one exampleof a relative arrangement state of the solid-state imaging devices andthe permanent magnet in the capsule medical device. As shown in FIG. 3,the solid-state imaging device 21 c is fixedly arranged in the capsulecasing 20 in a mode in which an imaging direction B1 is oriented in thedirection of the long axis 27 of the capsule medical device 2, and thesolid-state imaging device 22 c is fixedly arranged in the capsulecasing 20 in a mode in which an imaging direction B2 is oriented in adirection opposite to the imaging direction B1.

The permanent magnet 26 is arranged in the capsule casing 20 while thepermanent magnet 26 is relatively fixed with respect to the imagingunits 21 and 22 as described above. In this case, the permanent magnet26 is magnetized in the radial direction of the capsule casing 20 and ina known direction relatively fixed with respect to upward and downwarddirections and D3 of each imaging surface of the solid-state imagingdevices 21 and 22 c respectively shown in FIG. 3. That is to say, amagnetization direction D1 of the permanent magnet 26 is a knowndirection relatively fixed with respect to the upward and downwarddirection D2 of the imaging surface of the solid-state imaging device 21c and a known direction relatively fixed with respect to the upward anddownward direction D3 of the imaging surface of the solid-state imagingdevice 22 c. Specifically, in the capsule medical device 2 according tothe first embodiment, the magnetization direction D1 of the permanentmagnet 26 is parallel to the upward and downward directions D2 and D3 ofeach imaging surface of the solid-state imaging devices 21 c and 22 crespectively as shown in FIG. 3.

Next, the center of gravity 29 of the capsule medical device 2 isdescribed. FIG. 4 is a schematic diagram showing one example of a statein which the capsule medical device floats in the liquid in the subject.FIG. 5 is a schematic diagram showing one example of a specific state,which the capsule medical device maintains in the liquid in the subject.

The capsule medical device 2 has the center of gravity 29 at a locationdeviated from a geometric center 28 of the capsule casing 20 (a locationdeviated in a direction parallel to a plane parallel to themagnetization direction D1 of the permanent magnet 26 and the imagingdirections B1 and B2 and different from the magnetization direction D1of the permanent magnet 26, in detail) as shown in the above-describedFIG. 2. Specifically, the center of gravity 29 of the capsule medicaldevice 2 is set to a location on the long axis 27 and deviated from thegeometric center 28 of the capsule casing 20 to an imaging unit 22 side,by adjusting arrangement of each component of the capsule medical device2 such as the power unit 25 and the permanent magnet 26.

The capsule medical device 2 of which center of gravity 29 is thus setmaintains upright position in the liquid 101 as shown in FIG. 4, whenthe above-described guidance magnetic field is not applied. Meanwhile,the upright position herein used is intended to mean the position inwhich the long axis 27 (a straight line connecting the geometric center28 and the center of gravity 29) of the capsule casing 20 and thevertical direction are substantially parallel to each other. With such aupright position, the capsule medical device 2 turns the imaging fieldA1 of the imaging unit 21 in a vertically upward direction and turns theimaging field A2 of the imaging unit 22 in a vertically downwarddirection.

On the other hand, the capsule medical device 2 maintains the specificstate as shown in FIG. 5 in the liquid 101 when the above-describedguidance magnetic field is applied. Specifically, the capsule medicaldevice 2 maintains the specific state in which a vertical plane 102including a direction of center of gravity D4 is parallel to eachimaging direction B1 and B2 of the imaging units 21 and 22 respectively,and the magnetization direction D1 of the permanent magnet 26. Such aspecific state of the capsule medical device 2 is maintained in theliquid 101 even when the magnetic field direction or the magnetic fieldstrength of the guidance magnetic field to be applied to the permanentmagnet 26 is changed. That is to say, the above-described magneticguidance device 3 (refer to FIG. 1) applies the guidance magnetic fieldto the permanent magnet 26 in the capsule medical device 2 tomagnetically guide the capsule medical device 2 in the liquid 101 whilemaintaining such a specific state.

Meanwhile, the liquid 101 is liquid harmless to human, such as water ornormal saline solution and a specific gravity of the liquid 101 islarger than that of the capsule medical device 2. That is to say, thecapsule medical device 2 may float in the liquid 101. An appropriateamount of the liquid 101 is introduced into the organ of the subject 100to float the capsule medical device 2 in the organ of the subject 100.

Next, a display of the in-vivo image of the subject 100 by the imagedisplay device 10 is described. FIG. 6 is a schematic diagram showingone example of a display mode of the image display device according tothe first embodiment of the present invention. The image display device10 displays the in-vivo image of the subject 100 by the capsule medicaldevice 2 in the display mode in which the upward and downward directionof the object in the in-vivo image associated with the magnetic guidanceof the capsule medical device 2 conforms with the upward and downwarddirection of the display screen, as described above. In this case, thedisplay unit 12 of the image display device 10 displays a window 12 ashown in FIG. 6 based on the control of the controller 14 to displayeach in-vivo image of the subject 100 in the window 12 a.

Specifically, as shown in FIG. 6, the window 12 a includes twomain-image display areas 12 b and 12 c and a scrollable subimage displayarea 12 d. The display unit 12 displays an in-vivo image P1 of thesubject 100 imaged by the imaging unit 21 of the capsule medical device2 on the main-image display area 12 b. In this case, the display unit 12displays the in-vivo image P1 by conforming the direction ofintersection line of the imaging surface of the solid-state imagingdevice 21 c and the vertical plane in the in-vivo image P1 to the upwardand downward direction of the main-image display area 12 b. On the otherhand, the display unit 12 displays an in-vivo image P2 of the subject100 imaged by the imaging unit 22 of the capsule medical device 2 on themain-image display area 12 c. In this case, the display unit 12 displaysthe in-vivo image P2 by conforming the direction of intersection line ofthe imaging surface of the solid-state imaging device 22 c and thevertical plane in the in-vivo image P2 to the upward and downwarddirection of the main-image display area 12 c. The display unit 12sequentially displays the in-vivo images P1 and P2 in such a displaymode as the moving image on the main-image display areas 12 b and 12 crespectively in real time, and switches the moving image display of thein-vivo images P1 and P2 to the still image display based on theinstruction information input by the input unit 11. Thereafter, thedisplay unit 12 switches the still image display of the in-vivo imagesP1 and P2 to the moving image display based on the instructioninformation input by the input unit 11.

On the other hand, when a desired in-vivo image is selected or markedfrom the in-vivo image group of the subject 100 imaged by the capsulemedical device 2, by the input operation of the input unit 11 by theuser, the display unit 12 sequentially additionally displays the reducedimage of such a desired in-vivo image on the subimage display area 12 deach time. Here, such a desired in-vivo image is selected or marked fromthe in-vivo images P1 sequentially displayed on the main-image displayarea 12 b or the in-vivo images P2 sequentially displayed on themain-image display area 12 c, by a click operation of the input unit 11.Meanwhile, in FIG. 6, the display unit 12 displays thumbnail images Q1and Q2 on the subimage display area 12 d as one example of the reducedimage of such a desired in-vivo image.

Next, the magnetic guidance device 3 for magnetically guiding thecapsule medical device 2 in the subject 100 is described. FIG. 7 is aschematic diagram showing one configuration example of the magneticfield generator, which is a portion of the magnetic guidance device.FIG. 8 is a schematic diagram showing a drive state of the movable bed,which is a portion of the magnetic guidance device.

The magnetic guidance device 3 is provided with the magnetic fieldgenerator 5 for generating the guidance magnetic field, as describedabove. The magnetic generator 5 is as shown in FIG. 7 provided with az-axis coil 5 a for generating the magnetic field in a z-axis directionof an absolute coordinate system, a pair of x-axis coils 5 b and 5 c forgenerating the magnetic field in an x-axis direction of the absolutecoordinate system, and a pair of y-axis coils 5 d and 5 e for generatingthe magnetic field in an y-axis direction of the absolute coordinatesystem.

The z-axis coil 5 a is fixedly arranged on a substantially centralportion of a table 5 f to generate a magnetic field HZ in the z-axisdirection of the absolute coordinate system based on the alternatingcurrent from the above-described power unit 7. A pair of x-axis coils 5b and 5 c are fixedly arranged on the table 5 f along the x-axis of theabsolute coordinate system so as to interpose the z-axis coil 5 a togenerate a magnetic field HX in the x-axis direction of the absolutecoordinate system based on the alternating current from theabove-described power unit 7. A pair of y-axis coils 5 d and 5 e arefixedly arranged on the table 5 f along the y-axis of the absolutecoordinate system so as to interpose the z-axis coil 5 a to generate amagnetic field HY in the y-axis direction of the absolute coordinatesystem based on the alternating current from the above-described powerunit 7.

Here, the absolute coordinate system is a three-axis orthogonalcoordinate system in which the z-axis in the vertical direction and thex-axis and the y-axis in the horizontal direction are at right angles toone another. The z-axis of the absolute coordinate system conforms to acentral axis CL of the z-axis coil 5 a. The z-axis coil 5 a generatesthe magnetic field HZ in the vertical direction on the central axis CL,a pair of x-axis coils 5 b and 5 c generate the magnetic field HX in thex-axis direction on the central axis CL, and a pair of y-axis coils 5 dand 5 e generate the magnetic field HY in the y-axis direction on thecentral axis CL. Each of the magnetic fields HZ, HX and HY are combinedat an intersection 103 of the central axis CL and an optional plane togenerate the guidance magnetic field for magnetically guiding thecapsule medical device 2. The guidance magnetic field thus generated hasa peak to restrain the location of the capsule medical device 2 in thehorizontal direction in the liquid 101 in the vicinity of the centralaxis CL.

The magnetic field generator 5 may magnetically capture the capsulemedical device 2 in the liquid 101 in the vicinity of the z-axis (thatis to say, the central axis CL) of the absolute coordinate system byapplying the guidance magnetic field obtained by combining each of themagnetic fields HZ, HX, and HY to the permanent magnet 26 in the capsulemedical device 2. On the other hand, the magnetic field generator 5 maymagnetically guide the capsule medical device 2 in the liquid 101 in thevertical direction by changing the magnetic field strength of themagnetic field HZ out of such guidance magnetic fields. Also, themagnetic field generator 5 may change at least one of the position andthe direction of the capsule medical device 2 in the liquid 101 byappropriately changing the magnetic field strength of the magneticfields HZ, HX, and HY composing such a guidance magnetic field.

On the other hand, the magnetic guidance device 3 is provided with themovable bed 4 capable of parallelly moving the table portion thereof bythe above-described drive unit 4 a. The above-described absolutecoordinate system of the bed 4 is defined as shown in FIG. 8, and thetable portion can be horizontally moved by parallelly moving the tableportion in at least one of the x-axis direction and the y-axis directionof the absolute coordinate system.

Here, the bed 4 supports the subject 100 including the capsule medicaldevice 2 in the liquid 101 in the organ (refer to FIG. 1) on the table,and moves the table portion in a state of supporting the subject 100 ina horizontal direction based on the control of the above-described drivecontroller 6. Thereby, the bed 4 changes the relative location of thesubject 100 with respect to the magnetic field generator 5, whichmagnetically captures the capsule medical device 2. The magneticguidance device 3 magnetically guides the capsule medical device 2 inthe liquid 101 in the subject 100 in the horizontal direction bycombining a magnetic acquisition action of the capsule medical device 2by the magnetic field generator 5 and a change action of the relativelocation between the magnetic field generator 5 and the subject 100 bythe bed 4.

Next, the operation input unit 15 for operating the magnetic guidance ofthe capsule medical device 2 is described. FIG. 9 is a schematic viewshowing one example of the operation input unit according to the firstembodiment of the present invention. FIG. 10 is a schematic diagram forillustrating the magnetic guidance of the capsule medical deviceoperable by the operation input unit. As shown in FIG. 9, the operationinput unit 15 is provided with two joysticks 15 a and 15 b forthree-dimensionally operating the magnetic guidance of the capsulemedical device 2 by the magnetic guidance device 3.

The joystick 15 a is for operating the magnetic guidance of the capsulemedical device 2 in the horizontal direction, and a tilt operation ispossible in an upward and downward direction D5 and a right and leftdirection D6 of a two-axis orthogonal coordinate system set in advance.A tilt direction of the joystick 15 a corresponds to a horizontal motiondirection of the capsule medical device 2 in the subject 100, and a tiltamount of the joystick 15 a corresponds to a horizontal motion speed ofthe capsule medical device 2 in the subject 100. The operation inputunit 15 determines the horizontal motion direction of the capsulemedical device 2 in the x-axis direction of the absolute coordinatesystem in response to the tilt operation of the joystick 15 a in theupward and downward direction D5, and determines the horizontal motionspeed of the capsule medical device 2 in the x-axis direction inresponse to a tilt operation amount in the upward and downward directionD5. In this case, the operation input unit 15 inputs the operationinformation to specify the x-axis direction as the horizontal motiondirection of the capsule medical device 2 and to specify the horizontalmotion speed of the capsule medical device 2 in the x-axis direction tothe controller 19 of the control device 16. On the other hand, theoperation input unit 15 determines the horizontal motion direction ofthe capsule medical device 2 in the y-axis direction of the absolutecoordinate system in response to the tilt operation of the joystick 15 ain the right and left direction D6, and determines the horizontal motionspeed of the capsule medical device 2 in the y-axis direction inresponse to the tilt operation amount in the right and left directionD6. In this case, the operation input unit 15 inputs the operationinformation to specify the y-axis direction as the horizontal motiondirection of the capsule medical device 2 and to specify the horizontalmotion speed of the capsule medical device 2 in the y-axis direction tothe controller 19 of the control device 16.

The joystick 15 b is for operating the magnetic guidance of the capsulemedical device 2 about the horizontal axis and the magnetic guidance ofthe capsule medical device about the vertical axis, and the tiltoperation is possible in an upward and downward direction D7 and a rightand left direction D8 of the two-axis orthogonal coordinate system setin advance. The upward and downward direction D7, which is one of thetilt directions of the joystick 15 b, corresponds to a direction of arotational motion of the capsule medical device 2 around the horizontalaxis (hereinafter, referred to as a swaying motion) in the subject 100,and the tilt amount of the joystick 15 b in the upward and downwarddirection D7 corresponds to a swaying motion speed of the capsulemedical device 2. The operation input unit 15 determines a swayingmotion direction (clockwise or counterclockwise) of the capsule medicaldevice 2 in response to the tilt operation of the joystick 15 b in theupward and downward direction D7, and determines the swaying motionspeed of the capsule medical device 2 in response to the tilt operationamount in the upward and downward direction D7. In this case, theoperation input unit 15 inputs the operation information to specify theswaying motion direction and the swaying motion speed of the capsulemedical device 2 to the controller 19 of the control device 16. On theother hand, the right and left direction D8, which is one of the tiltdirections of the joystick 15 b, corresponds to a direction of therotational motion of the capsule medical device 2 about the verticalaxis (hereinafter, referred to as a turning motion) in the subject 100,and the tilt amount of the joystick 15 b in the right and left directionD8 corresponds to a turning motion speed of the capsule medical device2. The operation input unit 15 determines a turning motion direction(clockwise or counterclockwise) of the capsule medical device 2 inresponse to the tilt operation of the joystick 15 b in the right andleft direction D8, and determines the turning motion speed of thecapsule medical device 2 in response to the tilt operation amount in theright and left direction D8. In this case, the operation input unit 15inputs the operation information to specify the turning motion directionand the turning motion speed of the capsule medical device 2 to thecontroller 19 of the control device 16.

In addition, when the tilt operation of the joystick 15 a in the upwardand downward direction D5 and the tilt operation of the joystick 15 b inthe upward and downward direction D7 are simultaneously performed, theoperation input unit 15 inputs the operation information to specify avertical motion direction and a vertical motion speed of the capsulemedical device 2 to the controller 19 of the control device 16.Specifically, when the joysticks 15 a and 15 b are simultaneouslyoperated to tilt to a back side of the operation input unit 15 seen fromthe front, the operation input unit 15 inputs the operation informationto specify vertical upward as the vertical motion direction of thecapsule medical device 2 and to specify the vertical motion speed of thecapsule medical device 2 in a vertical upward direction to thecontroller 19 of the control device 16. On the other hand, when thejoysticks 15 a and 15 b are simultaneously operated to tilt to a frontside of the operation input unit 15 seen from the front, the operationinput unit 15 inputs the operation information to specify verticallydownward as the vertical motion direction of the capsule medical device2 and to specify the vertical motion speed of the capsule medical device2 in a vertically downward direction to the controller 19 of the controldevice 16.

The controller 19 of the above-described control device 16 controls themagnetic guidance device 3 to perform the magnetic guidance of thecapsule medical device 2 according to the magnetic guidance directionand the magnetic guidance speed specified by the operation informationfrom the operation input unit 15. The capsule medical device 2 performsvarious motions according to the magnetic guidance by the magneticguidance device 3 in the liquid 101 in the subject 100. Specifically, asshown in FIG. 10, the capsule medical device 2 in the liquid 101performs the horizontal motion to horizontally move in the x-axisdirection of the absolute coordinate system in response to the tiltoperation of the above-described joystick 15 a in the upward anddownward direction D5. Also, the capsule medical device 2 in the liquid101 performs the horizontal motion to horizontally move in the y-axisdirection of the absolute coordinate system in response to the tiltoperation of the above-described joystick 15 a in the right and leftdirection D6.

On the other hand, the capsule medical device 2 in the liquid 101performs the swaying motion in response to the tilt operation of theabove-described joystick 15 b in the upward and downward direction D7,thereby changing an elevation angle, which is an angle between the longaxis 27 of the capsule medical device 2 and the vertical axis 104. Also,the capsule medical device 2 in the liquid 101 performs the turningmotion in response to the tilt operation of the above-described joystick15 b in the right and left direction D8, thereby changing a directionangle, which is the angle between a horizontal component of the longaxis 27 of the capsule medical device 2 and a reference axis (x-axis ory-axis, for example) in the horizontal direction. On the other hand, thecapsule medical device 2 in the liquid 101 performs a vertical motionmoving upward or downward in the z-axis direction (that is to say, thevertical direction) of the absolute coordinate system in response to thesimultaneous tilt operation of the above-described joysticks 15 a and 15b.

Meanwhile, the elevation angle of the capsule medical device 2 is aphysical amount indicating the position of the capsule medical device 2in the liquid 101, and changes according to the change in position ofthe capsule medical device 2. Also, the direction angle of the capsulemedical device 2 is the physical amount indicating the direction of thecapsule medical device 2 in the liquid 101, and changes according to thechange in direction of the capsule medical device 2.

Next, information display by the display unit 17 of the control device16 is described. FIG. 11 is a schematic diagram showing one display modeexample of the display unit of the control device. The display unit 17of the control device 16 displays various pieces of information usefulin operation of the magnetic guidance of the capsule medical device 2,such as the information indicating the location, the position, and thedirection of the capsule medical device 2 in the subject 100, which isthe magnetic guidance target, the relative location information of theoperation input unit 15 with respect to the bed 4, the body postureinformation of the subject 100 on the bed 4, and the like. In this case,the display unit 17 displays a window 17 a as shown in FIG. 11 todisplay the various pieces of information in the window 17 a.

Specifically, as shown in FIG. 11, the window 17 a includes an elevationangle information display area 17 b for displaying elevation angleinformation of the capsule medical device 2, a direction angleinformation display area 17 c for displaying direction angle informationof the capsule medical device 2, and a location information display area17 d for displaying location information of the capsule medical device2. Also, the window 17 a includes an operation table location settingunit 17 e, which is a graphical user interface (GUI) for setting therelative location of the operation input unit 15 with respect to the bed4, and a body posture setting unit 17 f, which is the GUI for settingthe body posture of the subject 100 on the bed 4.

The display unit 17 displays the elevation angle information of thecapsule medical device 2 on the elevation angle information display area17 b as the information to indicate the position of the capsule medicaldevice 2 in the subject 100. Specifically, the image processor 19 a ofthe control device 16 generates a capsule pattern image E1 schematicallyshowing the capsule medical device 2 seen from the radial direction ofthe capsule casing 20 and the horizontal direction. Also, the imageprocessor 19 a calculates the elevation angle of the capsule medicaldevice 2 based on the information of the guidance magnetic field (suchas the magnetic field strength and the magnetic field direction) appliedby the magnetic field generator 5 to the capsule medical device 2, thephysical information (such as the mass, the shape, the location ofcenter of gravity, and the magnetic moment) of the capsule medicaldevice 2, and the density information of the liquid 101. The imageprocessor 19 a rotates the capsule pattern image E1 according to thecalculated elevation angle. The controller 19 controls the display unit17 to display an elevation angle scale from the vertical axis to thehorizontal axis in the elevation angle information display area 17 b,and further controls the display unit 17 to display the rotated capsulepattern image E1 along the elevation angle scale. The display unit 17displays the elevation angle scale in the elevation angle informationdisplay area 17 b based on the control of the controller 19, anddisplays the capsule pattern image E1 so as to indicate a portion of thescale conforming with the elevation angle of the capsule medical device2 of the elevation angle scale. Thereby, the display unit 17 displaysthe elevation angle information of the capsule medical device 2.

Also, the display unit 17 displays the capsule pattern image E1 in thedisplay mode to indicate the operation target direction based on thecontrol of the controller 19. Here, the operation target direction isthe imaging direction of the operation target image, which becomes thetarget of the operation when operating the magnetic guidance of thecapsule medical device 2. Also, the operation target image is either oneof the in-vivo images P1 and P2 displayed on the above-described imagedisplay device 10, which is referred to when operating the magneticguidance of the capsule medical device 2. That is to say, the operationtarget image is the in-vivo image imaged by either of the imaging units21 and 22 incorporated in the capsule medical device 2. The imageprocessor 19 a marks a portion of the capsule pattern image E1corresponding to an arranged portion of the imaging unit (one of theimaging units 21 and 22) of such an operation target image. Thecontroller 19 controls the display unit 17 to display the marked capsulepattern image E1. The display unit 17 displays the capsule pattern imageE1, a portion of which (shadowed portion) is marked as shown in FIG. 11,on the elevation angle information display area 17 b based on thecontrol of the controller 19, thereby clearly showing the operationtarget direction at the time of the magnetic guidance of the capsulemedical device 2.

Meanwhile, in the capsule medical device 2 according to the firstembodiment, the imaging directions B1 and B2 of the imaging units 21 and22 respectively, are in the same direction as the long axis 27 of thecapsule medical device 2. Therefore, the elevation angle of the capsulemedical device 2 in the liquid 101 is the angle between the imagingdirection (one of the imaging directions B1 and B2 of the imaging units21 and 22, respectively) of the imaging unit of such an operation targetimage and the vertical axis.

On the other hand, the display unit 17 displays the direction angleinformation of the capsule medical device 2 in the direction angleinformation display area 17 c as the information indicating thedirection of the capsule medical device 2 in the subject 100.Specifically, the image processor 19 a generates a capsule pattern imageE2 schematically showing the capsule medical device 2 in the subject 100seen from vertically above. Also, the image processor 19 a calculatesthe direction angle of the capsule medical device 2 based on theinformation of the guidance magnetic field to be applied by the magneticfield generator 5 to the capsule medical device 2 (the magnetic fielddirection of the horizontal component of the guidance magnetic field, indetail). The image processor 19 a rotates the capsule pattern image E2according to the calculated direction angle. The controller 19 controlsthe display unit 17 to display a circular direction angle scale as shownin FIG. 11 in the direction angle information display area 17 c, andfurther, controls the display unit 17 to display the rotated capsulepattern image E2 along the direction angle scale. The display unit 17displays the direction angle scale in the direction angle informationdisplay area 17 c based on the control of the controller 19, anddisplays the capsule pattern image E2 so as to indicate a portion of thescale conforming with the direction angle of the capsule medical device2 of the direction angle scale. Thereby, the display unit 17 displaysthe direction angle information of the capsule medical device 2.

Also, the display unit 17 appropriately displays arrow information F1 toF12 indicating the magnetic guidance direction of the capsule medicaldevice 2 according to the magnetic guidance direction in at least one ofthe elevation angle information display area 17 b and direction angleinformation display area 17 c when the magnetic guidance of the capsulemedical device 2 is carried out.

Specifically, the controller 19 controls the magnetic guidance of thecapsule medical device 2 by the magnetic guidance device 3 based on theoperation information input by the operation input unit 15, and controlsthe display unit 17 to display the arrow information (any of the arrowinformation F1 to F12) indicating the magnetic guidance directionspecified by the operation information. The display unit 17 displays thearrow information conforming to the swaying motion direction of thecapsule medical device 2 out of the arrow information F1 and F2 in theelevation angle information display area 17 b when the magnetic guidancedirection specified by the operation information is about the horizontalaxis. The display unit 17 displays the arrow information conforming withthe horizontal motion direction of the capsule medical device 2 amongthe arrow information F3, F4 and F9 to F12 in the elevation angleinformation display area 17 b or the direction angle information displayarea 17 c when the magnetic guidance direction specified by theoperation information is in the horizontal direction. The display unit17 displays the arrow information conforming to the vertical motiondirection of the capsule medical device 2 out of the arrow informationF5 and F6 in the elevation angle information display area 17 b when themagnetic guidance direction specified by the operation information is inthe vertical direction. The display unit 17 displays the arrowinformation conforming to the turning motion direction of the capsulemedical device 2 out of the arrow information F7 and F8 in the directionangle information display area 17 c when the magnetic guidance directionspecified by the operation information is around the vertical axis.

On the other hand, the display unit 17 displays the location informationof the capsule medical device 2 in the subject 100 in the locationinformation display area 17 d. Specifically, the image processor 19 agenerates a capsule pattern image E3 schematically showing the capsulemedical device 2 in the subject 100 seen from vertically above. Also,the image processor 19 a calculates the location information of thecapsule medical device 2 in an xy-plane of the absolute coordinatesystem based on the relative location of the magnetic field generator Swith respect to the table portion of the bed 4. Meanwhile, thecalculated location information is relative location information of thecapsule medical device 2 with respect to the subject 100 on the bed 4.The controller 19 controls the display unit 17 to display a gridcoordinate scale as shown in FIG. 11 in the location information displayarea 17 d, and further controls the display unit 17 to display thecapsule pattern image E3 on a portion of the coordinate scale conformingwith the calculated location information. The display unit 17 displaysthe grid coordinate scale in the location information display area 17 dbased on the control of the controller 19, and displays the capsulepattern image E3 on the portion of the scale conforming with thelocation information of the capsule medical device 2 of the coordinatescale. Thereby, the display unit 17 displays the location information ofthe capsule medical device 2 in the subject 100.

Meanwhile, the capsule pattern images E1 to E3 operate in conjunctionwith each other in association with the magnetic guidance of the capsulemedical device 2. That is to say, the capsule pattern image E1 swaysfollowing the swaying motion of the capsule medical device 2. Thecapsule pattern images E2 and E3 change the position thereof followingthe swaying motion of the capsule pattern image E1. Also, the capsulepattern images E2 and E3 turn following the turning motion of thecapsule medical device 2. In this case, the capsule pattern images E2and ES are in display modes similar to each other.

The operation table location setting unit 17 e is the GUI for settingthe relative location of the operation input unit 15 with respect to thebed 4, as described above. The display unit 17 displays a subjectpattern image K1 for schematically showing the subject 100 and a bedpattern image K2 schematically showing the bed 4 in the operation tablelocation setting unit 17 e based on the control of the controller 19. Inthis case, the display unit 17 displays the subject pattern image K1 soas to overlap with the bed pattern image K2 to display a state in whichthe subject 100 is placed on the bed 4.

Also, the operation table location setting unit 17 e includes inputboxes 17 e-1 to 17 e-4 on four points around the bed pattern image K2 asshown in FIG. 11. The input box 17 e-1 is the GUT for setting thelocation of the operation input unit 15 on an x-axis positive directionside of the circumference of the bed 4, and is formed under the bedpattern image K2 seen from the front. The input box 17 e-2 is the GUIfor setting the location of the operation input unit 15 on a y-axisnegative direction side of the circumference of the bed 4, and is formedon a left side of the bed pattern image K2 seen from the front. Theinput box 17 e-3 is the GUI for setting the location of the operationinput unit 15 on an x-axis negative direction side of the circumferenceof the bed 4, and is formed above the bed pattern image K2 seen from thefront. The input box 17 e-4 is the GUI for setting the location of theoperation input unit 15 on a y-axis positive direction side of thecircumference of the bed 4, and is formed on a right side of the bedpattern image K2 seen from the front.

The operation input unit 15 inputs location specifying information tospecify the x-axis positive direction side of the bed 4 as the locationof the operation input unit 15 to the controller 19 by clicking theinput box 17 e-1. The operation input unit 15 inputs the locationspecifying information to specify the y-axis negative direction side ofthe bed 4 as the location of the operation input unit 15 to thecontroller 19 by clicking the input box 17 e-2. The operation input unit15 inputs the location specifying information to specify the x-axisnegative direction side of the bed 4 as the location of the operationinput unit 15 to the controller 19 by clicking the input box 17 e-3. Theoperation input unit 15 inputs the location specifying information tospecify the y-axis positive direction side of the bed 4 as the locationof the operation input unit 15 to the controller 19 by clicking theinput box 17 e-4.

The display unit 17 makes the display mode such as a color of the inputbox finally clicked by the operation input unit 15 among the input boxes17 e-1 to 17 e-4 different from remaining input boxes. Meanwhile, inFIG. 11, the input box 17 e-1 is the one finally clicked by theoperation input unit 15.

The controller 19 converts the horizontal motion direction of thecapsule medical device 2 specified by the above-described operationinformation to the horizontal motion direction according to a directionfrom the operation input unit 5 toward the subject 100 (that is to say,a point of view direction of the user) to control the magnetic guidanceof the capsule medical device 2 based on the location specifyinginformation from the operation input unit 15. Also, the controller 19controls the display unit 17 to change the directions of the capsulepattern images E2 and E3 according to the relative location of theoperation input unit 15 specified by the location specifying informationfrom the operation input unit 15. The display unit 17 changes thedisplay directions of the capsule pattern images E2 and E3 by 90degrees, for example, based on the control of the controller 19.

The body posture setting unit 17 f is the GUI for setting the bodyposture of the subject 100 on the bed 4 as described above.Specifically, the body posture setting unit 17 f includes a body posturesetting menu (such as the setting menu of a supine location, a pronelocation, a right lateral location, and a left lateral location) of thesubject 100 as shown in FIG. 11. The operation input unit 15 clicks anybody posture of the body posture setting menu of the body posturesetting unit 17 f to input body posture specifying information tospecify the clicked body posture to the controller 19. The imageprocessor 19 a generates the subject pattern image K1 showing the bodyposture specified by the body posture specifying information. Thecontroller 19 controls the display unit 17 to display the subjectpattern image K1. The display unit 17 displays the subject pattern imageK1 showing the body posture specified by the body posture specifyinginformation on the operation table location setting unit 17 e based onthe control of the controller 19. Also, the display unit 17 displays themark in a setting column of the body posture corresponding to the bodyposture specifying information (that is to say the body posture clickedby the operation inputting unit 15) of the body posture setting menu ofthe body posture setting unit 17 f. Meanwhile, in FIG. 11, the supinelocation is selected by the click operation of the operation input unit15 from the body postures in the body posture setting menu of the bodyposture setting unit 17 f.

Meanwhile, the display unit 17 appropriately displays informationindicating that the magnetic field generator 5 is in a state ofgenerating the guidance magnetic field (magnetic field on-state) andinformation indicating that the magnetic field generator 5 is in a stateof stopping generating the guidance magnetic field (magnetic fieldoff-state), in addition to the elevation angle information, thedirection angle information, and the location information of theabove-described capsule medical device 2, in the window 17 a accordingto a generation state of the guidance magnetic field.

Next, a display process of the in-vivo image by the image display device10 according to the first embodiment of the present invention isdescribed. FIG. 12 is a flowchart showing one example of a procedure ofthe image display device according to the first embodiment of thepresent invention. FIG. 13 is a schematic diagram illustrating acalculation process of a direction of intersection line of the imagingsurface and the vertical plane in the in-vivo image. FIG. 14 is aschematic diagram illustrating the image display process for displayingthe in-vivo image by conforming the direction of intersection line ofthe in-vivo image to the upward and downward direction of the displayscreen.

The image display device 10 sequentially displays the in-vivo images P1and P2 by the imaging units 21 and 22, respectively, of the capsulemedical device 2 in real time by conforming the upward and downwarddirection of the object in the in-vivo image associated with themagnetic guidance of the capsule medical device 2 to the upward anddownward direction of the display screen as described above.

Specifically, as shown in FIG. 12, the controller 14 of the imagedisplay device 10 first obtains the in-vivo image by the capsule medicaldevice 2 in the subject 100 (step S101). At the step S101, thecontroller 14 sequentially obtains the in-vivo images imaged inchronological order by the imaging units 21 and 22 of the capsulemedical device 2 from the receiving device 9.

Next, the controller 14 calculates the direction of intersection line ofthe imaging surface and the vertical plane in the in-vivo image obtainedat the step S101 (step S102). At the step S102, the image processor 14 acalculates the direction of intersection line of the imaging surface andthe vertical plane for each of the in-vivo images P1 and P2 imaged bythe imaging units 21 and 22, respectively. Specifically, the imageprocessor 14 a calculates a direction of intersection line D9corresponding to an intersection line L1 of the imaging surface of thesolid-state imaging device 21 c in the capsule medical device 2maintaining the above-described specific state (refer to FIG. 5) and thevertical plane 102 parallel to the imaging direction B1 of thesolid-state imaging device 21 c and the magnetization direction D1 ofthe permanent magnet 26 for the in-vivo image P1 by the imaging unit 21as shown in FIG. 13. Similarly, the image processor 14 a calculates thedirection of intersection line corresponding to the intersection line ofthe imaging surface of the solid-state imaging device 22 c in thecapsule medical device 2, which is in the specific state, and thevertical plane 102 parallel to the imaging direction B2 of thesolid-state imaging device 22 c and the magnetization direction D1 ofthe permanent magnet 26 for the in-vivo image P2 by the imaging unit 22.

Subsequently, the controller 14 controls the display unit 12 to displaythe in-vivo image by conforming the direction of intersection line ofthe in-vivo image calculated at the step S102 to the upward and downwarddirection of the display screen (step S103). At the step S103, the imageprocessor 14 a rotates the in-vivo images P1 and P2 as necessary basedon the relative relation between the magnetization direction D1 of thepermanent magnet 26 known as shown in FIG. 3 and the upward and downwarddirections D2 and D3 of the imaging surfaces of the solid-state imagingdevices 21 c and 22 c, respectively, thereby conforming the direction ofintersection line in the in-vivo images P1 and P2 to the upward anddownward direction of the display screen of the display unit 12.Specifically, as shown in FIG. 14, the image processor 14 a conforms thedirection of intersection line D9 of the in-vivo image P1 to the upwardand downward direction D10 of the main-image display area 12 b.Similarly, the image processor 14 a conforms the direction ofintersection line of the in-vivo image P2 to the upward and downwarddirection of the main-image display area 12 c (refer to FIG. 6). Thecontroller 14 controls the display unit 12 to display the in-vivo imageP1 in the display mode in which the direction of intersection line D9 ofthe in-vivo image PI and the upward and downward direction D10 of themain-image display area 12 b are conformed to each other in this manner,and controls the display unit 12 to display the in-vivo image P2 in thedisplay mode in which the direction of intersection line of the in-vivoimage P2 and the upward and downward direction of the main-image displayarea 12 c are conformed to each other in this manner.

Meanwhile, the upward and downward directions D2 and D3 of the imagingsurfaces of the solid-state imaging devices 21 c and 22 c, respectively,are parallel to the magnetization direction D1 of the permanent magnet26 in the capsule medical device 2 according to the first embodiment, asshown in above-described FIG. 3. Therefore, the direction ofintersection line D9 of the imaging surface of the solid-state imagingdevice 21 c and the vertical plane in the in-vivo image P1 alwaysconforms with the upward and downward direction D2 of the imagingsurface of the solid-state imaging device 21 c. Similarly, the directionof intersection line of the imaging surface of the solid-state imagingdevice 22 c and the vertical plane in the in-vivo image P2 alwaysconforms with the upward and downward direction D3 of the imagingsurface of the solid-state imaging device 22 c. In this case, the imageprocessor 14 a is not required to rotate the in-vivo images P1 and P2 atthe step 3103, and may conform the direction of intersection line in thein-vivo images P1 and P2 to the upward and downward direction of thedisplay screen of the display unit 12 by conforming the upward anddownward directions of the in-vivo images P1 and P2 to the upward anddownward direction of the display screen of the display unit 12. That isto say, the image processor 14 a rotates the in-vivo images P1 and P2based on the relative relation between the known magnetization directionD1 and the upward and downward directions D2 and D3 of the imagingsurface of the solid-state imaging devices 21 c and 22 c, respectively,only when the upward and downward directions D2 and D3 of the imagingsurfaces of the solid-state imaging devices 21 c and 22 c and themagnetization direction D1 of the permanent magnet 26 are not parallelto each other, thereby conforming the direction of intersection line inthe in-vivo images P1 and P2 to the upward and downward direction of thedisplay screen of the display unit 12.

After the procedure at the step S103, the controller 14 judges whetherto finish the display process of the in-vivo image based on the inputinformation or the like from the input unit 11 (step S104), and when thecontroller 14 judges that the process is finished (step S104, Yes), thecontroller 14 finishes the process. On the other hand, when thecontroller 14 judges that the process is not finished at the step S104(step S104, No), the controller 14 returns to the above-described stepS101 to repeat the procedure after the step S101.

Next, a case in which the operation target image to which the userrefers as the operation target when operating the magnetic guidance ofthe capsule medical device 2 is the in-vivo image P1 by the imaging unit21 is illustrated to describe the moving direction of the operationtarget image associated with the operation of the magnetic guidance ofthe capsule medical device 2. FIG. 15 is a schematic diagram showing oneexample of the moving direction of the operation target image associatedwith the operation of the magnetic guidance of the capsule medicaldevice 2 when the capsule medical device 2 is in a tilted position asshown in FIG. S.

As shown in FIG. 15, the in-vivo image P1 displayed in the main-imagedisplay area 12 b as the operation target image moves along any ofmoving directions D11 to D18 in response to each tilt operation of thejoysticks 15 a and 15 b of the operation input unit 15. In this case,the in-vivo image P1, which is the operation target image, moves in adirection easy to be intuitively imagined by the tilt directions of thejoysticks 15 a and 15 b.

Specifically, the in-vivo image P1 moves along the moving directions D11and D12, which are the left direction and the right direction in themain-image display area 12 b seen from the front, respectively, inresponse to the tilt operation of the joystick 15 a in the right andleft direction D6. That is to say, the in-vivo image P1 moves in themoving direction D11 in association with the horizontal motion of thecapsule medical device 2 horizontally leftward seen from the imagingunit 21 side, and moves in the moving direction D12 in association withthe horizontal motion of the capsule medical device 2 horizontallyrightward seen from the imaging unit 21. Also, the in-vivo image P1moves along the moving directions D13 and D14, which are the frontdirection and the back direction in the main-image display area 12 bseen from the front, respectively, in response to the tilt operation ofthe joystick 15 a in the upward and downward direction D5. That is tosay, the in-vivo image P1 moves in the moving direction D13 inassociation with the horizontal motion of the capsule medical device 2in a horizontal front direction seen from the imaging unit 21 side, andmoves in the moving direction D14 in association with the horizontalmotion of the capsule medical device 2 in a horizontal back directionseen from the imaging unit 21 side.

On the other hand, the in-vivo image P1 moves along the movingdirections D15 and D16, which are the upward direction and the downwarddirection in the main-image display area 12 b seen from the front,respectively, in response to the tilt operation of the joystick 15 b inthe upward and downward direction D7. That is to say, the in-vivo imageP1 moves in the moving direction D15 in association with the swayingmotion of the capsule medical device 2 upward seen from the imaging unit21 side, and moves in the moving direction 16 in association with theswaying motion of the capsule medical device 2 downward seen from theimaging unit 21 side. Also, the in-vivo image P1 moves along the movingdirections D17 and D18, which are the counterclockwise direction and theclockwise direction in the main-image display area 12 b seen from thefront, respectively, in response to the tilt operation of the joystick15 b in the right and left direction D8. That is to say, the in-vivoimage P1 moves in the moving direction D17 in association with theturning motion of the capsule medical device 2 leftward seen from theimaging unit 21 side, and moves in the moving direction D18 inassociation with the turning motion of the capsule medical device 2rightward seen from the imaging unit 21 side.

Meanwhile, the above-described movement of in-vivo image P1 is aphenomenon that the object in the in-vivo image P1 moves in associationwith the magnetic guidance of the capsule medical device 2. Also, themoving directions D11 to D18 of the in-vivo image P1 are the samedirection as the moving direction of the imaging field A1, which movesin association with the magnetic guidance of the capsule medical device2, and the direction opposite to the moving direction of the object inthe in-vivo image P1. Meanwhile, the movement of the operation targetimage in response to the above-described tilt operation of the joysticks15 a and 15 b is similar also in the case in which the in-vivo image P2by the imaging unit 22 is the operation target image.

As described above, in the system for guiding capsule medical deviceaccording to the first embodiment of the present invention, it isconfigured that the capsule medical device provided with the imagingunit and the permanent magnet magnetized in the known directionrelatively fixed with respect to the upward and downward direction ofthe imaging surface of the imaging unit in the capsule casing isintroduced into the liquid in the subject the capsule medical device inthe liquid is allowed to maintain the specific state in which themagnetization direction of the permanent magnet and the imagingdirection of the imaging unit are included in the vertical plane, andthe in-vivo image of the subject imaged by the imaging unit of thecapsule medical device maintaining the specific state is displayed inthe display mode in which the direction of intersection line of theimaging surface and the vertical plane in the in-vivo image and theupward and downward direction of the display screen are conformed toeach other. Therefore the in-vivo image by the capsule medical devicecan be displayed by conforming the upward and downward direction of thesubject in the in-vivo image in association with the motion of theimaging field generated when magnetically guiding the capsule medicaldevice in the subject to the up and direction of the display screen.Thereby, the moving direction of the in-vivo image in association withthe magnetic guidance of the capsule medical device can be easilyintuitionally judged from the operation direction (such as theabove-described tilt direction of the joysticks 15 a and 15 b) of theoperation input unit operating the magnetic guidance of the capsulemedical device. As a result, it is possible to easily magnetically guidethe capsule medical device in the subject while referring to the in-vivoimage by the capsule medical device in the subject.

Also, in the system for guiding capsule medical device according to thefirst embodiment, the in-vivo image imaged by the imaging unit isrotated based on the relative relation between the magnetizationdirection of the permanent magnet in the capsule medical device and theupward and downward direction of the imaging surface of the imagingunit, thereby conforming the direction of intersection line of theimaging surface and the vertical plane in the in-vivo image to theupward and downward direction of the display screen. Therefore, evenwhen the magnetization direction of the permanent magnet in the capsulemedical device and the upward and downward direction of the imagingsurface of the imaging unit are not parallel to each other, it ispossible to display the in-vivo image by the capsule medical device bysurely conforming the upward and downward direction of the object in thein-vivo image in association with the magnetic guidance of the capsulemedical device to the upward and downward direction of the displayscreen. As a result, even when the in-vivo image is imaged by thecapsule medical device in which the magnetization direction of such apermanent magnet and the upward and downward direction of the imagingsurface are not parallel to each other, it is possible to easilymagnetically guide the capsule medical device in the subject whilereferring to such an in-vivo image.

Further, in the system for guiding capsule medical device according tothe first embodiment, the elevation angle information, the directionangle information, and the location information of the capsule medicaldevice in the subject are displayed, so that it is possible to easilyestimate the position, the imaging direction, and the current locationof the capsule medical device in the subject, which is difficult to bedirectly visually recognized. Thereby, an imaging site in the subject bythe capsule medical device can be estimated, and consequently, anobservation in the organ of the subject can be smoothly carried out.

Also, the moving direction of the in-vivo image associated with theturning motion of the capsule medical device depends on the elevationangle of the capsule medical device. Therefore, by displaying theelevation angle information of the capsule medical device, it ispossible to easily estimate the moving direction of the in-vivo imageassociated with the turning motion of the capsule medical device, andconsequently, the capsule medical device can be further easilymagnetically guided.

On the other hand, in the system for guiding capsule medical deviceaccording to the first embodiment, the operation target direction of thecapsule medical device, which is the magnetic guidance target, isclearly shown, so that it is possible to allow the user to known theimaging direction of the capsule medical device, which is currently themagnetic guidance operation target. Thereby, the imaging site in thesubject by the capsule medical device can be easily estimated, andconsequently, the observation in the organ of the subject can be furthersmoothly carried out.

Also, in the system for guiding capsule medical device according to thefirst embodiment, since the magnetic guidance direction of the capsulemedical device operated by the operation input unit is displayed, it ispossible to easily visually recognize whether the magnetic guidanceoperation by the operation input unit is the operation in an intendedmagnetic guidance direction. Thereby, the magnetic guidance of thecapsule medical device can be smoothly operated.

Further, in the system for guiding capsule medical device according tothe first embodiment, the relative location of the operation input unitwith respect to the bed supporting the subject is set, and the displaydirection of each capsule pattern image indicating each of the directionangle information and the location information of the capsule medicaldevice is changed according to the set relative location of theoperation input unit. Therefore, the display direction of the capsulepattern image can be changed according to the relative direction of theoperation input unit with respect to the subject, that is to say, thepoint of view direction of the user. As a result, the magnetic guidanceof the capsule medical device can be operated by arranging the operationinput unit in the desired relative direction with respect to thesubject.

Also, in the system for guiding capsule medical device according to thefirst embodiment, the body posture of the subject on the bed is setbased on the input information by the operation input unit, and theimage information indicating the set body posture of the subject isdisplayed. Therefore, by appropriately visually recognizing the imageinformation indicating such a body posture and the elevation angleinformation and the direction angle information of the capsule medicaldevice, it is possible to easily estimate which side (such as a rightside, a left side, a head side, a foot side, a stomach side, and a backside) of the subject is observed through the in-vivo image. As a result,the magnetic guidance of the capsule medical device in the subject canbe smoothly operated, and the inside of the organ of the subject can besmoothly observed through the observation of the in-vivo image by thecapsule medical device. Further, an estimation result on an observedside in such a subject may be automatically displayed, thereby themagnetic guidance operation of such a capsule medical device and theobservation in the organ of the subject can be further smoothly carriedout.

Next, a second embodiment of the present invention is described.Although the in-vivo images P1 and P2 imaged by the imaging units 21 and22 respectively of the capsule medical device 2 are displayed on thedisplay unit 12 in the above-described first embodiment, it is clearlyshown which of the in-vivo images P1 and P2 displayed on the displayunit 12 is the operation target image in the second embodiment.

FIG. 16 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe second embodiment of the present invention. As shown in FIG. 16, asystem for guiding capsule medical device 31 according to the secondembodiment is provided with an image display device 33 in place of theimage display device 10 in the system for guiding capsule medical device1 according to the above-described first embodiment. The image displaydevice 33 is provided with a controller 34 in place of the controller 14of the image display device 10 according to the above-described firstembodiment. Other configurations are identical to those in the firstembodiment, and the same reference numerals are given to the samecomponents.

The image display device 33 displays the in-vivo images P1 and P2 imagedby the imaging units 21 and 22, respectively, of the capsule medicaldevice 2 as in the case of the first embodiment, and clearly shows whichof the in-vivo images P1 and P2 is the operation target image at thetime of the magnetic guidance of the capsule medical device 2.

The controller 34 of the image display device 33 controls the displayunit 12 to display the in-vivo images P1 and P2 in the display mode toclearly show which of the in-vivo images P1 and P2 by the imaging units21 and 22, respectively, is the operation target image. FIG. 17 is aschematic diagram showing one example of the display mode of the imagedisplay device according to the second embodiment of the presentinvention. The controller 34 sets in advance one of the in-vivo imagesP1 and P2 as the operation target image based on the input informationor the like from the input unit 11. The controller 34 controls thedisplay unit 12 to display the in-vivo images P1 and P2 by the imagingunits 21 and 22, respectively, as in the case of the first embodiment,and controls the display unit 12 to emphasize the display area of thein-vivo image set in advance as the operation target image with a frameimage or the like. Meanwhile, the controller 34 has the function similarto that of the controller 14 of the image display device 1C according tothe above-described first embodiment except for the display controlfunction to clearly show such an operation target image.

The display unit 12 displays the in-vivo images P1 and P2 on themain-image display areas 12 b and 12 c in the window 12 a as shown inFIG. 17 based on the control of the controller 34, and displays a frameimage 32 a around the main-image display area 12 b displaying thein-vivo image P1, which is the operation target image. The display unit12 clearly shows that the in-vivo image P1 in the main-image displayarea 12 b is the operation target image at the time of the magneticguidance of the capsule medical device 2 by the display of the frameimage 32 a.

Meanwhile, although the in-vivo image P1 by the imaging unit 21 is setas the operation target image as one example and the frame image 32 a isadded to the display area of the in-vivo image P1, which is theoperation target image, that is to say, the main-image display area 12 bin FIG. 17, the present invention is not limited to this. That is tosay, when the in-vivo image P2 by the imaging unit 22 is the operationtarget image, the display unit 12 displays the frame image 32 a aroundthe main-image display area 12 c displaying the in-vivo image P2, whichis the operation target image, and clearly shows that the in-vivo imageP2 in the main-image display area 12 c is the operation target image.

As described above, in the system for guiding capsule medical deviceaccording to the second embodiment of the present invention, the capsulemedical device incorporating the first and second imaging units forimaging the images in imaging directions different from each other andthe permanent magnet is introduced into the subject, the first in-vivoimage imaged by the first imaging unit and the second in-vivo imageimaged by the second imaging unit are displayed in the subject, it isclearly shown which of the first and second in-vivo images is theoperation target image at the time of the magnetic guidance of thecapsule medical device, and other configurations are made similar tothose in the first embodiment. Therefore, the system for guiding capsulemedical device capable of enjoying the effect similar to that of theabove-described first embodiment, and of surely referring to theoperation target image useful in operating the magnetic guidance of thecapsule medical device without wondering which of the in-vivo images inthe display screen should be referred to as the operation target imagewhen operating the magnetic guidance of the capsule medical device,thereby easily operating the magnetic guidance of the capsule medicaldevice may be realized.

Next, a third embodiment of the present invention is described. Althoughthe elevation angle information and the direction angle information ofthe capsule medical device 2 are displayed on the display unit 17 of thecontrol device 16 for controlling the magnetic guidance of the capsulemedical device 2 in the above-described first embodiment, the elevationangle information and the direction angle information of the capsulemedical device 2 are displayed by being associated with the operationtarget image out of the in-vivo images P1 and P2 imaged by the imagingunits 21 and 22, respectively, of the capsule medical device 2 in thethird embodiment.

FIG. 18 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe third embodiment of the present invention. As shown in FIG. 18, asystem for guiding capsule medical device 41 according to the thirdembodiment is provided with an image display device 43 in place of theimage display device 10 of the system for guiding capsule medical device1 according to the above-described first embodiment, an operation inputunit 45 in place of the operation input unit 15, and a control device 46in place of the control device 16. In the third embodiment, the imagedisplay device 43 is provided with a controller 44 in place of thecontroller 14 of the image display device 10 according to theabove-described first embodiment. Also, the control device 46 isprovided with a controller 49 in place of the controller 19 of thecontrol device 16 according to the above-described first embodiment.Other configurations re identical to those of the first embodiment, andthe same reference numerals are given to the same components.

The image display device 43 displays the in-vivo images P1 and P2 imagedby the imaging units 21 and 22, respectively, of the capsule medicaldevice 2 as in the case of the first embodiment, and displays theelevation angle information and the direction angle information of thecapsule medical device 2 by relating them to the operation target imageat the time of the magnetic guidance of the capsule medical device 2,which is any of the in-vivo images P1 and P2.

The controller 44 of the image display device 43 controls the displayunit 12 to display the elevation angle information and the directionangle information of the capsule medical device 2, which is the magneticguidance object, by relating them to the operation target image out ofthe in-vivo images P1 and P2 by the imaging units 21 and 22,respectively. Specifically, the controller 44 sets in advance one of thein-vivo images P1 and P2 as the operation target image based on theinput information or the like from the input unit 11. Also, thecontroller 44 obtains the angle information and the directioninformation of the capsule medical device 2 from the controller 49 ofthe control device 46. The controller 44 controls the display unit 12 todisplay the in-vivo images P1 and P2 by the imaging units 21 and 22,respectively, as in the case of the first embodiment, and controls thedisplay unit 12 to display the elevation angle information and thedirection angle information of the capsule medical device 2 by relatingthem to the in-vivo image set in advance as the operation target image.In this case, the controller 44 controls the display of the elevationangle information of the capsule medical device by the display unit 12based on the angle information of the capsule medical device 2 obtainedfrom the controller 49 of the control device 46. Also, the controllercontrols the display of the direction angle information of the capsulemedical device 2 by the display unit 12 based on the directioninformation of the capsule medical device 2 obtained from the controller49 of the control device 46.

Also, the controller 44 controls the display unit 12 to display theinformation indicating that the operation information of the capsulemedical device 2 is input by the operation input unit 45. In this case,the controller 44 receives notification that the operation informationis input by the operation input unit 45 from the controller 49 of thecontrol device 46, and allows the display unit 12 to display theinformation indicating that the operation information of the capsulemedical device 2 is input based on the notification of the input.Meanwhile, the controller 44 has the function similar to that of thecontroller 14 of the image display device 10 according to theabove-described first embodiment, except for the display controlfunction of the elevation angle information, the direction angleinformation, and the information indicating that the operationinformation is input, of the capsule medical device 2, for theabove-described display unit 12.

The operation input unit 45 has a function of inputting the instructioninformation to the image display device 43 in addition to the operationinformation to operate the magnetic guidance of the above-describedcapsule medical device 2. FIG. 19 is a schematic diagram showing oneconfiguration example of the operation input unit in the thirdembodiment of the present invention. As shown in FIG. 19, the operationinput unit 45 is provided with input switches 45 c and 45 d in additionto the above-described joysticks 15 a and 15 b. Meanwhile, the operationinput unit 45 has the function similar to that of the operation inputunit 15 of the system for guiding capsule medical device 1 according tothe above-described first embodiment, except for the information inputfunction by the input switches 45 c and 45 d.

The input switch 45 c is the switch to input the instruction informationto instruct to selectively save the in-vivo image. The operation inputunit 45 inputs the instruction information to selectively save thein-vivo image to the controller 49 of the control device 46 in responseto a push operation of the input switch 45 c. In this case, thecontroller 49 transfers the instruction information from the operationinput unit 45 to the controller 44 of the image display device 43. Thecontroller 44 of the image display device 43 extracts the in-vivo image,which is instructed to be saved by such instruction information (that isto say, the image selected by the user), from the in-vivo image group ofthe subject 100. Then, the controller 44 controls the display unit 12 toadd the mark to the extracted in-vivo image, and controls the storageunit 13 to store the in-vivo image data by relating the same to themark. Further, the controller 44 controls the display unit 12 toadditionally display the reduced image (such as the thumbnail image) ofthe in-vivo image.

Meanwhile, the controller 44 may allow the display unit 12 toadditionally display the reduced image of the in-vivo image, which isthe operation target image, out of the in-vivo images P1 and P2displayed on the display unit 12 at the time of the push operation ofthe input switch 45 c, or allow the display unit 12 to additionallydisplay both of the reduced images. On the other hand, the controller 44may store the data of the in-vivo image, which is the operation targetimage, out of the in-vivo images P1 and P2 displayed on the display unit12 at the time of the push operation of the input switch 45 c in thestorage unit 13, or may store the both of data in the storage unit 13.Alternatively, the controller 44 may select and save one of the data ofthe in-vivo image in the display screen when the push operation of theinput switch 45 is performed. In this case, the controller 44 may storethe data of the in-vivo image selected by the click operation, theoperation of the arrow key or the like from the in-vivo images P1 and P2in the display screen after the push operation of the input switch 45 c.

The input switch 45 d is the switch to input the instruction informationto instruct to switch the display mode of the in-vivo image. Theoperation input unit 45 inputs the instruction information to switch thedisplay mode of the in-vivo image to the controller 49 of the controldevice 46 in response to the push operation of the input switch 45 d. Inthis case, the controller 49 transfers the instruction information fromthe operation input unit 45 to the controller 44 of the image displaydevice 43. The controller 44 of the image display device 43 controls thedisplay unit 12 to switch the display format of each in-vivo image ofthe subject 100 from the moving image display to the still image displaybased on such instruction information, or controls the display unit 12to switch from the still image display to the moving image display.

The control device 46 is provided with the controller 49 as describedabove to control each display operation by the image display device 43of the elevation angle information, the direction angle information, andthe information indicating that operation information is input, of thecapsule medical device 2. Meanwhile, the control device 46 has thefunction similar to that of the control device 16 of the system forguiding capsule medical device 1 according to the above-described firstembodiment, except for the control function of the image display device43.

The controller 49 transmits the angle information of the capsule medicaldevice 2 to the controller 44 of the image display device 43 to controlthe display of the elevation angle information of the capsule medicaldevice 2 by the image display device 43. Specifically, the controller 49calculates the angle between the imaging direction of the imaging unitto image the operation target image out of the imaging units 21 and 22of the capsule medical device 2 and the vertical axis, that is to say,the elevation angle of the capsule medical device 2. Meanwhile, thecontroller 49 calculates the elevation angle of the capsule medicaldevice 2 based on the information of the guidance magnetic field (suchas the magnetic field strength and the magnetic field direction) appliedby the magnetic field generator 5 to the capsule medical device 2, thephysical information (such as the mass, the shape, the location ofcenter of gravity, and the magnetic moment) of the capsule medicaldevice 2, and the density information of the liquid 101. The controller49 transmits the angle information indicating the calculated elevationangle of the capsule medical device 2 to the controller 44 of the imagedisplay device 43, thereby allowing the image display device 43 todisplay the elevation angle information of the capsule medical device 2corresponding to the angle information.

Also, the controller 49 transmits the direction information of thecapsule medical device 2 to the controller 44 of the image displaydevice 43 to control the display of the direction angle information ofthe capsule medical device 2 by the image display device 43.Specifically, the controller 49 calculates a horizontal componentdirection of the imaging direction of the imaging unit for imaging theoperation target image out of the imaging units 21 and 22 of the capsulemedical device 2. Meanwhile, the controller 49 calculates the horizontalcomponent direction of the imaging direction of the capsule medicaldevice 2 based on the information (in detail, the magnetic fielddirection of the horizontal component of the guidance magnetic field) ofthe guidance magnetic field to be applied by the magnetic fieldgenerator 5 to the capsule medical device 2. The controller 49 transmitsthe direction information indicating the calculated horizontal componentdirection to the controller 44 of the image display device 43, therebyallowing the image display device 43 to display the direction angleinformation of the capsule medical device 2 corresponding to thedirection information.

Further, the controller 49 informs the controller 44 of the imagedisplay device 43 that the operation information is input, when theoperation information of the capsule medical device 2 is input by theoperation input unit 45. Thereby, the controller 49 allows the imagedisplay device 43 to display the information indicating that theoperation information of the capsule medical device 2 is input by theoperation input unit 45.

Meanwhile, the controller 49 has the function similar to that of thecontroller 19 of the control device 16 in the above-described firstembodiment, except for the control function to allow the image displaydevice 43 to display the elevation angle information, the directionangle information, and the information indicating that the operationinformation is input, of the capsule medical device 2 in this manner.

Next, the display process by the image display device 43 of theelevation angle information, the direction angle information, and theinformation indicating that the operation information is input, of thecapsule medical device 2, is described. FIG. 20 is a schematic diagramshowing one example of the display mode of the image display deviceaccording to the third embodiment of the present invention. FIG. 21 is aschematic diagram illustrating the display process by the image displaydevice of the information showing that the elevation angle informationand the operation information of the capsule medical device are input.FIG. 22 is a schematic diagram illustrating the display process by theimage display device of the direction angle information of the capsulemedical device.

The display unit 12 of the image display device 43 displays theelevation angle information of the capsule medical device 2 by relatingthe same to the in-vivo image P1, which is the operation target image,out of the in-vivo images P1 and P2 displayed in the main-image displayareas 12 b and 12 c in the window 12 a, as shown in FIG. 20, forexample. Specifically, the display unit 12 displays two marks 42 a and42 b by arranging them in one line lengthwise in the in-vivo image P1,which is the operation target image. Here, the controller 44 of theimage display device 43 determines the display locations of the marks 42a and 42 b in the in-vivo image P1 based on the angle information of thecapsule medical device 2 obtained from the controller 49 of the controldevice 46, and controls the display unit 12 to display the marks 42 aand 42 b on the determined display locations. The display unit 12displays the marks 42 a and 42 b on the display locations correspondingto such angle information, that is to say, the elevation angle of thecapsule medical device 2, and displays the elevation angle informationof the capsule medical device 2 by the display locations of the marks 42a and 42 b in the in-vivo image P1. Here, the mark 42 a is displayed onthe location indicating the horizontal direction in the in-vivo imageP1, and the mark 42 b is displayed on the location indicating thevertical direction in the in-vivo image P1.

Also, the display unit 12 longitudinally moves the marks 42 a and 42 bin the in-vivo image P1 in response to the swaying motion of the capsulemedical device 2 at the time of the tilt operation of the joystick 15 bof the operation input unit 45 in the upward and downward direction D7,that is to say, at the time of the magnetic guidance, as shown in FIG.21. The marks 42 a and 42 b move downward in the in-vivo image P1 withan increase in the elevation angle of the capsule medical device 2. Whenthe elevation angle of the capsule medical device 2 is 90 degrees, thatis to say, the imaging direction (the as the imaging direction B1 of theimaging unit 21) of the operation target image and the horizontaldirection are parallel to each other, the mark 42 a moves to an imagecentral portion of the in-vivo image P1, which is the operation targetimage. On the other hand, the marks 42 a and 42 b move upward in thein-vivo image P1 with a decrease in the elevation angle of the capsulemedical device 2. When the elevation angle of the capsule medical device2 is 0 degree, that is to say, when the imaging direction (the as theimaging direction B1 of the imaging unit 21) of the operation targetimage and the vertical direction are parallel to each other, the mark 42b moves to the image central portion of the in-vivo image P1, which isthe operation target image.

On the other hand, the display unit 12 displays the direction angleinformation of the capsule medical device 2 by relating the same to thein-vivo image P1, which is the operation target image, out of thein-vivo images P1 and P2, as shown in FIG. 20, for example.Specifically, the window 12 a includes a bar-type information displayarea 12 e in the vicinity of the upper portion of the main-image displayarea 12 b displaying the in-vivo image P1, which is the operation targetimage. The display unit 12 displays the direction information 42 c inthe information display area 12 e based on the control of the controller44, and displays the direction angle information of the capsule medicaldevice 2 by the display location of the direction information 42 c inthe information display area 12 e.

Here, the direction information 42 c is formed of four different piecesof direction information 42 c-2 to 42 c-4 for each direction of thecapsule medical device 2 as shown in FIG. 27. Each of the pieces ofdirection information 42 c-1 to 42 c-4 is bar-type image informationhaving a width W corresponding to a direction angle area (±45 degrees,for example) for each direction of the capsule medical device 2, andincludes an arrow indicating the direction of the capsule medical device2 in a central portion of the bar. In detail, the direction information42 c-1 includes an up-pointing arrow indicating that the horizontalcomponent direction of the operation target direction of the capsulemedical device 2 is the direction to the back of the operation inputunit 45 seen from the front, in the central portion of the bar. Thedirection information 42 c-2 includes a right-pointing arrow indicatingthat the horizontal component direction of the operation targetdirection of the capsule medical device 2 is the direction to the rightof the operation input unit 45 seen from the front, in the centralportion of the bar. The direction information 42 c-3 includes adown-pointing arrow indicating that the horizontal component directionof the operation target direction of the capsule medical device 2 is thedirection to the front of the operation input unit 45 seen from thefront, in the central portion of the bar. The direction information 42c-4 includes a left-pointing arrow indicating that the horizontalcomponent direction of the operation target direction of the capsulemedical device 2 is the direction to the left of the operation inputunit 45 seen from the front, in the central portion of the bar.Meanwhile, the location of each arrow in the pieces of directioninformation 42 c-1 to 42 c-4 is not limited to the central portion ofthe bar and may be set in consideration of distortion of the opticalsystems 21 b and 22 b of the capsule medical device 2.

The controller 44 of the image display device 43 determines the displaylocation of the direction information 42 c in the information displayarea 12 e based on the direction information of the capsule medicaldevice 2 obtained from the controller 49 of the control device 46, thatis to say, the calculated result of the horizontal component directionof the operation object direction of the capsule medical device 2. Thecontroller 44 controls the display unit 12 to display one of thedirection information 42 c (any of the pieces of direction information42 c-1 to 42 c-4) conforming with the direction information of thecapsule medical device 2 on the display location in the informationdisplay area 12 e thus determined. The display unit 12 displays thedirection information 42 c on the location in the information displayarea 12 e based on the control of the controller 44, and displays thedirection angle information of the capsule medical device 2 by thedisplay location of the direction information 42 c.

Specifically, when the operation target direction (the imaging direction81 of the imaging unit 21, for example) of the capsule medical device 2is the direction to the back of the operation input unit 45 seen fromthe front, the display unit 12 displays the direction information 42 c-1such that the up-pointing arrow is located on the central portion of theinformation display area 12 e. Then, the display unit 12 laterally movesthe direction information 42 c-1 in the information display area 12 e inthe same direction as the direction around the vertical axis of theturning motion in response to the turning motion of the capsule medicaldevice 2 in an area of 145 degrees. Also, when the operation targetdirection of the capsule medical device 2 is the direction to the rightof the operation input unit 45 seen from the front, the display unit 12displays the direction information 42 c-2 such that the right-pointingarrow is located on the central portion of the information display area12 e. Then, the display unit 12 laterally moves the directioninformation 42 c-2 in the information display area 12 e in the samedirection as the direction around the vertical axis of the turningmotion in response to the turning motion of the capsule medical device 2in an area of ±45 degrees. Also, the display unit 12 displays thedirection information 42 c-3 such that the down-pointing arrow islocated on the central portion of the information display area 12 e whenthe operation target direction of the capsule medical device 2 is thedirection to the front of the operation input unit 45. Then, the displayunit 12 laterally moves the direction information 42 c-3 in theinformation display area 12 e in the same direction as the directionaround the vertical axis of the turning motion in response to theturning motion of the capsule medical device 2 in an area of ±45degrees. Also, the display unit 12 displays the direction information 42c-4 such that the left-pointing arrow is located on the central portionof the information display area 12 e when the operation target directionof the capsule medical device 2 is to the left of the operation inputunit 45 seen from the front. Then, the display unit 12 laterally movesthe direction information 42 c-3 in the information display area 12 e inthe same direction as the direction around the vertical axis of theturning motion in response to the turning motion of the capsule medicaldevice 2 in an area of ±45 degrees.

Also, the display unit 12 sequentially laterally moves the directioninformation 42 c in the information display area 12 e in response to thetilt operation of the joystick 15 b of the operation input unit 45 inthe right and left direction D8, that is to say, the turning motion ofthe capsule medical device 2 at the time of the magnetic guidance asshown in FIG. 22. In this case, when the capsule medical device 2 turnsclockwise from the back side of the operation input unit 45 seen fromthe front, the display unit 12 sequentially displays the directioninformation 42 c-1, 42 c-2, 42 c-3, and 42 c-4 in the informationdisplay area 12 e in this order. On the other hand, when the capsulemedical device 2 turns counterclockwise from the back side of theoperation input unit 45, the display unit 12 sequentially displays thedirection information 42 c-1, 42 c-4, 42 c-3, and 42 c-2 in theinformation display area 12 e in this order.

On the other hand, the display unit 12 displays the informationindicating that the operation information of the capsule medical device2 is input by the operation input unit 45 by relating the same to thein-vivo image P1, which is the operation target image, out of thein-vivo images P1 and P2 as shown in FIG. 20, for example. Specifically,when the controller 44 of the image device 43 receives the notificationindicating that the operation information of the capsule medical device2 is input by the operation input unit 45 from the controller 49 of thecontrol device 46, the controller 44 controls the display unit 12 todisplay the information indicating that the operation information isinput, based on the notification.

The display unit 12 displays the marks 42 d and 42 e indicating that theoperation information of the capsule medical device 2 is input, byrelating them to the in-vivo image P1, which is the operation targetimage, as shown in FIG. 20, based on the control of the controller 44.Here, the mark 42 d is the information indicating that the operationinformation of the magnetic guidance, which allows the capsule medicaldevice 2 to perform the horizontal motion to the left of the operationtarget direction (the imaging direction B1, for example) of the capsulemedical device 2, is input. Also, the mark 42 e is the informationindicating that the operation information of the magnetic guidance,which allows the capsule medical device 2 to perform the horizontalmotion to the right of the operation target direction of the capsulemedical device 2, is input. When the joystick 15 a of the operationinput unit 45 is tilted to the left of the right and left direction D6,the display unit 12 displays the mark 42 d in the vicinity of the leftside of the main-image display area 12 b and on the central line of thein-vivo image P1, as shown in FIG. 21. Also, when the joystick 15 a istilted to the right of the right and left direction D6, the display unit12 displays the mark 42 e in the vicinity of the right side of themain-image display area 12 b and on the central line of the in-vivoimage P1.

Meanwhile, the display unit 12 may always display the marks 42 d and 42e in the vicinity of the main-image display area 12 b with apredetermined color (white, for example) regardless of the presence ofthe input of the operation information by the operation input unit 45,and when such operation information is input, this may display the markcorresponding to the operation information out of the marks 42 d and 42e with another color (yellow, for example).

On the other hand, as shown in FIG. 21, when the joystick 15 a of theoperation input unit 45 is tilted in the upward and downward directionD5, the display unit 12 changes the display color of the mark 42 a inthe in-vivo image P1 from a default color (yellow, for example) toanother color (blue, for example). Thereby, the display unit 12 displaysthe information indicating that the operational informationcorresponding to the tilt operation of the joystick 15 a, that is tosay, the operation information of the magnetic guidance, which allowsthe capsule medical device 2 to perform the horizontal motion to theback or the front of the operation target direction (the imagingdirection B1, for example) of the capsule medical device 2 seen from thefront, is input. Also, when the operation information of the magneticguidance, which allows the capsule medical device 2 to perform verticalmotion, is input by the operation input unit 45, the display unit 12changes the display color of the mark 42 b in the in-vivo image P1 fromthe default color (yellow, for example) to another color (blue, orexample). Thereby, the display unit 12 displays the informationindicating that the operation information corresponding to such avertical motion is input.

Meanwhile, although the in-vivo image P1 by the imaging unit 21 is setas the operation target image as one example, and the marks 42 a and 42b of the elevation angle information, the direction information 42 c,and the marks 42 d and 42 e are displayed by being related to thein-vivo image P1, which is the operation target image, inabove-described FIGS. 20 and 21, the present invention is not limited tothis. That is to say, the in-vivo image P2 by the imaging unit 22 may bethe operation target image, and in this case, the display unit 12 maydisplay the above-described marks 42 a and 42 b of the elevation angleinformation, the direction information 42 c, and the marks 42 d and 42 eby relating them to the in-vivo image P2, which is the operation targetimage.

As described above, in the system for guiding capsule medical deviceaccording to the third embodiment of the present invention, theelevation angle information and the direction angle information of thecapsule medical device and the information indicating that the operationinformation is input are displayed by being related to the operation ofthe capsule medical device image out of the in-vivo images imaged by aplurality of imaging units in the capsule medical device, and otherconfigurations are made the same as those of the first embodiment.Therefore, the system for guiding capsule medical device capable ofenjoying the effect similar to that of the above-described firstembodiment, and of easily visually recognizing the elevation angle, thedirection angle and the motion direction (magnetic guidance direction)of the capsule medical device while referring to each in-vivo image ofthe subject imaged by the capsule medical device, which is the magneticguidance target, and consequently, capable of further easily operatingthe magnetic guidance of the capsule medical device in the subject canbe realized.

Also, by displaying the direction angle information of the capsulemedical device by relating the same to such an operation target image,it is possible to operate the magnetic guidance of the capsule medicaldevice while comprehending the direction of the imaging direction of thecapsule medical device, which is the magnetic guiding target, in thesubject. Thereby, the in-vivo image necessary for an examination in theorgan of the subject can be easily imaged, and as a result, theexamination in the organ of the subject through such an in-vivo imagecan be performed in a short time.

Next, a fourth embodiment of the present invention is described.Although the elevation angle information and the direction angleinformation of the capsule medical device 2 are displayed by beingrelated to the operation target image out of the in-vivo images P1 andP2 imaged by the imaging units 21 and 22, respectively, of the capsulemedical device 2 in the above-described third embodiment, the elevationangle information and the direction angle information of the capsulemedical device 2 are displayed by selectively switching the operationtarget image at the time of the magnetic guidance of the capsule medicaldevice 2 from the in-vivo images P1 and P2 and relating them to thein-vivo image selected as the operation target image, in the fourthembodiment.

FIG. 23 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe fourth embodiment of the present invention. As shown in FIG. 23, asystem for guiding capsule medical device 51 according to the fourthembodiment is provided with an image display device 53 in place of theimage display device 43 of the system for guiding capsule medical device41 according to the above-described third embodiment, an operation inputunit 55 in place of the operation input unit 45, and a control device 56in place of the control device 46. In the fourth embodiment, the imagedisplay device 53 is provided with a controller 54 in place of thecontroller 44 of the image display device 43 according to theabove-described third embodiment. Also, the control device 56 isprovided with a controller 59 in place of the controller 49 of hecontrol device 46 according to the above-described third embodiment.Other configurations are the same as those of the third embodiment, andthe same reference numerals are given to the same components.

The image display device 53 clearly shows either one of the in-vivoimages P1 and P2 imaged by the imaging units 21 and 22 of the capsulemedical device 2, which is selected by selection information input bythe operation input unit 55, as the operation target image at the timeof the magnetic guidance of the capsule medical device 2. The imagedisplay device 53 switches the operation target image from the in-vivoimages P1 and P2 in response to the selection information from theoperation input unit 55, and switches the display of the elevation angleinformation and the direction angle information of the capsule medicaldevice 2 in response to such switching of the operation target image.Meanwhile, the image display device 53 has the function similar to thatof the image display device 43 in the above-described third embodiment,except for a function of clearly showing such an operation target imageand a function of switch displaying the elevation angle information andthe direction angle information of the capsule medical device 2.

The controller 54 of the image display device 53 obtains the selectioninformation input by the operation input unit 55 from the controller 59of the control device 56, and controls the display unit 12 to clearlyshow the in-vivo image selected by the obtained selection informationout of the in-vivo images P1 and P2 by the imaging units 21 and 22,respectively, as the operation target image. The controller 54sequentially switches the operation target image between the in-vivoimages P1 and P2 each time the controller 54 obtains such selectioninformation, and controls the display unit 12 to switch the in-vivoimage to be clearly shown as the operation target image in response tosuch switching of the operation target image. Also, the controller 54switches the operation target image to be related to the elevation angleinformation and the direction angle information of the capsule medicaldevice 2 and the information indicating that the operation informationis input, between the in-vivo images P1 and P2, in response to theswitching of the operation target image. Then, the controller 54controls the display unit 12 to display the elevation angle informationand the direction angle information of the capsule medical device 2 andthe information indicating that the operation information is input, byalways being related to the in-vivo image, which is the operation targetimage, out of the in-vivo images P1 and P2. Meanwhile, the controller 54has the function similar to that of the controller 44 of the imagedisplay device 43 in the above-described third embodiment, except forthe control function of the display unit 12 in association with theswitching of such an operation target image.

The display unit 12 displays the elevation angle information and thedirection angle information of the capsule medical device 2 and theinformation indicating that the operation information is input, byalways relating them to the in-vivo image, which is the target objectimage, out of the in-vivo images P1 and P2 by the imaging units 21 and22, respectively, based on the control of the controller 54. FIG. 24 isa schematic diagram showing one example of the display mode of the imagedisplay device according to the fourth embodiment of the presentinvention. The display unit 12 displays a frame image 32 a around themain-image display area 12 b out of the main-image display areas 12 band 12 c, as shown in FIG. 24, for example, and clearly shows thein-vivo image P1 in the main-image display area 12 b as the operationtarget image by the display of the frame image 32 a. In this case, thedisplay unit 12 displays the marks 42 a and 42 b of the elevationinformation in the in-vivo image P1, which is the operation targetimage, as in the case of the above-described third embodiment, anddisplays the direction information 42 c in the information display area12 e in the vicinity of the upper side of the main-image display area 12b. Also, the display unit 12 displays the mark 42 d or 42 e in thevicinity of the main-image display area 12 b in response to the input ofthe operation information by the operation input unit 55, or changes thedisplay color of the mark 42 a or 42 b in the in-vivo image P1, which isthe operation target image.

Here, the window 12 a of the display unit 12 includes a bar-typeinformation display area 12 f, which is similar to the above-describedinformation display area 12 e in the vicinity of the upper side displayarea 12 c as shown in FIG. 24. When the in-vivo image P2 is theoperation target image, the display unit 12 changes the display locationof the frame image 32 a from the circumstance of the above-describedmain-image display area 12 b to the circumstance of the main-imagedisplay area 12 c to display the frame image 32 a, thereby clearlyshowing the in-vivo image P2 in the main-image display area 12 c as theoperation target image. At the same time, the display unit 12 displaysthe marks 42 a and 42 b of the elevation information displayed in thein-vivo image P1 in the in-vivo image P2, which is the operation targetimage, and displays the direction information 42 c displayed in theinformation display area 12 e on a main-image display area 12 b side inthe information display area 12 f on a main-image display area 12 cside. Further, the display unit 12 displays the mark 42 d or 42 e in thevicinity of the main-image display area 12 c in response to the input ofthe operation information by the operation input unit 55, or changes thedisplay color of the mark 42 a or 42 b in the in-vivo image P2, which isthe operation target image.

The operation input unit 55 has an input function of the selectioninformation to select the operation target image to be displayed on theimage display device 53 in addition to the operation information tooperate the magnetic guidance of the above-described capsule medicaldevice 2 and the instruction information to the image display device 53.FIG. 25 is a schematic diagram showing one configuration example of theoperation input unit in the fourth embodiment of the present invention.As shown in FIG. 25, the operation input unit 55 is provided with aninput switch 55 e in addition to the above-described joysticks 15 a and15 b and the input switches 45 c and 45 d. The input switch 55 e is theswitch to input the selection information to select the operation targetinformation from the in-vivo images P1 and P2 displayed by the imagedisplay device 53. The operation input unit 55 inputs the selectioninformation of the operation target image to the controller 59 of thecontrol device 56 in response to the push operation of the input switch55 e, and sequentially inputs the selection information to select theoperation target image by switching between the in-vivo images P1 and P2each time the push operation of the input switch 55 e is performed.Specifically, the operation input unit 55 inputs the selectioninformation to select the in-vivo image P1 as the operation target imageto the controller 59 in response to the push operation of the inputswitch 55 e, and inputs the selection information to select the in-vivoimage P2 in the imaging direction different from that of the in-vivoimage P1 as the operation target image to the controller 59 in responseto the push operation of the input switch 55 e thereafter. Meanwhile,the operation input unit 55 has the function similar to that of theoperation input unit 45 in the above-described third embodiment, exceptfor the information input function by the input switch 55 e.

The control device 56 is provided with the controller 59 as describedabove to control the magnetic guidance device 3 to change the magneticguidance direction of the capsule medical device 2 in response to theselection information of the operation target image input by theoperation input unit 55 and controls the image display device 53 toswitch the operation target image. Meanwhile, the control device 56 hasthe function similar to that of the control device 46 in theabove-described third embodiment, except for the control function of themagnetic guidance device 3 and the image display device 53 in responseto the selection information.

The controller 59 controls the magnetic guidance device 3 to change themagnetic guidance direction of the capsule medical device 2, which isthe magnetic guidance target, in response to the switching of theoperation target image in the above-described image display device 53.Specifically, the controller 59 obtains the selection information of theoperation target image input by the operation input unit 55. Thecontroller 59 controls the magnetic guidance device 3 to change at leastone of the magnetic field direction of the guidance magnetic field andthe moving direction of the bed 4 in the above-described absolutecoordinate system to magnetically guide the capsule medical device 2 inresponse to the switches of the imaging direction of the operationtarget image selected by the selection information. Meanwhile, theimaging direction of the operation target image selected by suchselection information is the operation target direction of theabove-described capsule medical device 2, and is one of the imagingdirections B1 and B2 of the imaging units 21 and 22, respectively, forexample. The controller 59 controls the magnetic guidance of the capsulemedical device 2 while maintaining the correspondence relation betweenthe moving direction of the operation target image in the image displaydevice 53 and the tilt direction of the joysticks 15 a and 15 b constantby changing the magnetic guidance direction of the capsule medicaldevice 2 according to the input of the selection information in thismanner.

Also, the controller 59 transmits the selection information of theoperation target image input by the above-described operation input unit55 to the controller 54 of the image display device 53. Thereby, thecontroller 59 controls the switching of the operation target image bythe above-described image display device 53.

Meanwhile, the controller 59 has the function similar to that of thecontroller 49 of the control device 46 in the above-described thirdembodiment, except for the changing function of the magnetic guidancedirection of the capsule medical device 2 and a function of switchingcontrolling the operation target image according to the input of suchselection information.

Next, the magnetic guidance control of the capsule medical device 2 bythe control device 56 according to the third embodiment of the presentinvention is described. FIG. 26 is a flowchart showing one example of aprocedure of the control device of the system for guiding capsulemedical device according to the third embodiment of the presentinvention. FIG. 27 is a schematic diagram showing a state in which theimage display device according to the third embodiment switches theoperation target image.

The control device 56 controls the magnetic guidance of the capsulemedical device 2 based on the above-described operation information, andwhen the selection information of the operation target image is input bythe operation input unit 55, the control device 56 changes the magneticguidance direction of the capsule medical device 2 in response to theselection information, and allows the image display device 53 to switchthe operation target image.

Specifically, as shown in FIG. 26, the controller 59 of the controldevice 56 first judges whether the magnetic guidance instruction of thecapsule medical device 2, which is the magnetic guidance target, ispresent (step S201). At the step S201, when the operation information isinput by the operation input unit 55, the controller 59 judges thatthere is the magnetic guidance instruction of the capsule medical device2 based on the operation information. On the other hand, when theoperation information is not input by the operation input unit 55, thecontroller 59 judges that there is no magnetic guidance instruction ofthe capsule medical device 2.

When the controller 59 judges that there is the magnetic guidanceinstruction of the capsule medical device 2 at the step S201 (step S201,Yes), the controller 59 controls the magnetic guidance device 3 tomagnetically guide the capsule medical device 2, which is the magneticguidance target (step S202). At the step S202, the controller 59controls the magnetic guidance device 3 to perform the magnetic guidanceof the capsule medical device 2 according to the magnetic guidancedirection and the magnetic guidance speed specified by the operationinformation obtained from the operation input unit 55. In this case, thecontroller 59 controls the magnetic field generator 5 to generate theguidance magnetic field necessary for the magnetic guidance of thecapsule medical device 2 according to the magnetic guidance directionand the magnetic guidance speed based on the operation information. Inaddition, the controller 59 controls the drive unit 4 a to performparallel motion of the table portion of the bed 4 according to themagnetic guidance direction and the magnetic guidance speed based on theoperation information. Also, the controller 59 controls the display unit17 to display the elevation angle information, the direction angleinformation, and the location information of the capsule medical device2 in a magnetic guidance state at the step S202 (refer to FIG. 11).

Meanwhile, at this moment, the image display device 53 displays thein-vivo images P1 and P2 of the subject 100 imaged by the imaging units21 and 22, respectively, of the capsule medical device 2, and clearlyshows the operation target image, which is one of the in-vivo images P1and P2, as described above. Also, the image display device 53 displaysthe elevation angle information and the direction angle information ofthe capsule medical device 2 in the magnetic guidance state by relatingthem to the operation target image, which is one of the in-vivo imagesP1 and P2. Further, the image display device 53 displays the informationindicating that the operation information is input by relating the sameto the operation target image, in response to the input of theabove-described operation information.

Next, the controller 59 judges presence of an image switchinginstruction of the operation target image at the time of the magneticguidance of the capsule medical device 2 (step S203). At the step S203,when the selection information of the operation target image is input bythe operation input unit 55, the controller 59 judges that there is theimage switching instruction to the operation target image selected bythe selection information. On the other hand, when the electioninformation of the operation target image is not input by the operationinput unit 55, the controller 59 judges that there is no image switchinginstruction of the operation target image.

When the controller 59 judges that there is the image switchinginstruction of the operation target image at the step S203 (step S203,Yes), the controller 59 transmits the selection information of theoperation target image to the controller 54 of the image display device53 to control the image display device 53 to switch the operation targetimage, which is referred to at the time of the magnetic guidance of thecapsule medical device 2 (step S204). Also, the controller 59 controlsthe display unit 17 to change a marking location on the capsule patternimage E1 shown in above-described FIG. 11 to a location according to theimaging direction of the operation target image selected by theselection information, at the step S204. Thereby, the controller 59allows the display unit 17 to display the operation target direction ofthe capsule medical device 2 corresponding to the selection information.

On the other hand, the image display device 53 obtains the selectioninformation of the operation target image from the controller 59 at thestep S204 to switch the operation target image to the in-vivo imageselected by the obtained selection information, and switches theinformation display such as the elevation angle information and thedirection angle information of the capsule medical device 2.

Specifically, when the in-vivo image P2 is selected by the selectioninformation, the image display device 53 switches the operation targetimage from the in-vivo image P1, which is the operation target image atpresent, to the in-vivo image P2. In this case, the image display device53 displays the frame image 32 a displayed around the main-image displayarea 12 b, around the main-image display area 12 c, as shown in FIG. 27,thereby clearly showing the in-vivo image P2 in the main-image displayarea 12 c as the operation target image. Also, the image display device53 displays the marks 42 a and 42 b of the elevation angle informationdisplayed in the in-vivo image P1, in the in-vivo image P2, which is theoperation target image after the switching, thereby displaying theelevation angle information of the capsule medical device 2 by relatingthem to the in-vivo image P2. Further, the image display device 53displays the direction information 42 c displayed in the informationdisplay area 12 e on the main-image display area 12 b side, in theinformation display area 12 f on the main-image display area 12 c side,thereby displaying the direction angle information of the capsulemedical device 2 by relating the same to the in-vivo image P2. In thiscase, the image display device 53 changes the operation target direction(that is to say, a direction of an arrow in the direction information 42c) of the capsule medical device 2 indicated by the directioninformation 42 c in response to such switching of the operation targetimage. Also, the image display device 53 appropriately displays themarks 42 d and 42 e in the vicinity of the main-image display area 12 cin response to the input of the operation information by the operationinput unit 55, or changes the display color of the mark 42 a or 42 b inthe in-vivo image P2. Thereby, the image display device 53 displays theinformation indicating that the operation information of the capsulemedical device 2 is input by relating the same to the in-vivo image P2.

On the other hand, when the in-vivo image P1 is selected by theabove-described selection information, the image display device 53switches the operation target image from the in-vivo image P2, which isthe operation target image at present, to the in-vivo image P1. In thiscase, the image display device 53 displays the frame image 32 adisplayed around the main-image display area 12 c, around the main-imagedisplay area 12 b, as shown in FIG. 27, thereby clearly showing thein-vivo image P1 in the main-image display area 12 b as the operationtarget image. Also, the image display device 53 displays the marks 42 aand 42 b of the elevation angle information displayed in the in-vivoimage P2, in the in-vivo image P1, which is the operation target imageafter the switching, thereby displaying the elevation angle informationof the capsule medical device 2 by relating the same to the in-vivoimage P1. Further, the image display device 53 displays the directioninformation 42 c displayed in the information display area 12 f on themain-image display area 12 c side, in the information display area 12 eon the main-image display area 12 b side, thereby displaying thedirection angle information of the capsule medical device 2 by relatingthe same to the in-vivo image P1. In this case, the image display device53 changes the operation target direction of the capsule medical device2 indicated by the direction information 42 c (that is to say, thedirection of the arrow in the direction information 42 c) in response tothe switching of such an operation target image. Also, the image displaydevice 53 appropriately displays the marks 42 d and 42 e in the vicinityof the main-image display area 12 b in response to the input of theoperation information by the operation input unit 55, or changes thedisplay color of the mark 42 a or 42 b in the in-vivo image P1. Thereby,the image display device 53 displays the information indicating that theoperation information of the capsule medical device 2 is input byrelating the same to the in-vivo image P1.

After carrying out the above-described step S204, the controller 59controls the magnetic guidance device 3 to change the magnetic guidancedirection of the capsule medical device 2, which is the magneticguidance target, in response to the selection information input by theoperation input unit 55 at the above-described step S203 (step S205). Atthe step S205, the controller 59 controls the magnetic guidance device 3to change at least one of the magnetic field direction of the guidancemagnetic field and the moving direction of the bed 4 in theabove-described absolute coordinate system to magnetically guide thecapsule medical device 2 in response to the switching of the imagingdirection of the operation target image selected by the input selectioninformation. Thereby, the controller 59 controls the magnetic guidanceof the capsule medical device 2 while maintaining the correspondencerelation between the moving direction of the operation target image inthe image display device 53 and the tile direction of the operationinput unit 55 constant.

Specifically, when the imaging directions B1 and B2 of the imaging units21 and 22, respectively, of the capsule medical device 2, which is themagnetic guidance target, are opposite to each other as shown in FIG. 3,and the upper side of the imaging surface of the imaging unit 21 and theupper side of the imaging surface of the imaging unit 22 are on the sameside, the controller 59 changes the magnetic guidance direction, whichis parallel to the operation target direction (that is to say, theimaging direction of the operation target image) of the capsule medicaldevice 2, to an opposite direction before and after the switching of theabove-described operation target image. Also, the controller 59 changesthe magnetic guidance direction, which is parallel to the right and leftdirection of the imaging units 21 and 22, to the opposite directionbefore and after the switching of the above-described operation targetimage, and makes the magnetic guidance direction, which is parallel tothe upward and downward directions D2 and D3 of the imaging units 21 and22, respectively, the same direction (that is to say, the controller 59does not change the magnetic guidance direction). Further, thecontroller 59 changes the magnetic guidance direction in the swayingmotion of the capsule medical device 2, that is to say, the swayingmotion direction of the capsule medical device 2 by the magneticguidance to the opposite direction before and after the switching of theabove-described operation target image to make the magnetic guidancedirection in the turning motion of the capsule medical device 2, that isto say, the turning motion direction of the capsule medical device 2 bythe magnetic guidance, the same direction. On the other hand, when theimaging directions B1 and B2 of the imaging units 21 and 22,respectively, of the capsule medical device 2, which is the magneticguidance target, are opposite to each other as shown in FIG. 3, and theupper side of the imaging surface of the imaging unit 21 and the upperside of the imaging surface of the imaging unit 22 are opposite to eachother, the controller 59 changes the magnetic guidance direction, whichis parallel to the operation target direction of the capsule medicaldevice 2, to the opposite direction before and after the switching ofthe above-described operation target image. Also, the controller 59makes the magnetic guidance direction, which is parallel to the rightand left direction of the imaging units 21 and 22, the same directionbefore and after the switching of the above-described operation targetdirection, and changes the magnetic guidance direction, which isparallel to the upward and downward directions D2 and D3 of the imagingunits 21 and 22, respectively, to the opposite direction. Further, thecontroller 59 makes the magnetic guidance direction in the swayingmotion of the capsule medical device 2 the same direction and changesthe magnetic guidance direction in the turning motion of the capsulemedical device 2 to the opposite directions before and after theswitching of the above-described operation target image.

After carrying out the above-described step S205, the controller 59returns to the step S201 and repeats the procedure after the step S201.On the other hand, when the controller 59 judges that there is nomagnetic guidance instruction of the capsule medical device 2 at thestep S201 (step S201, No), the controller 59 proceeds to the step S203to repeat the procedure after the step S203. Also, when the controller59 judges that there is no image switching instruction of the operationtarget image at the step S203 (step S203, No), the controller 59 returnsto the step S201 to repeat the procedure after the step S201.

As described above, in the system for guiding capsule medical deviceaccording to the fourth embodiment of the present invention, it isconfigured that the operation target image at the time of the magneticguidance of the capsule medical device is switched between the in-vivoimages imaged by the imaging units in the capsule medical device, thein-vivo image to be clearly shown as the operation target image ischanged in response to such switching of the operation target image andthe display of the elevation angle information and the direction angleinformation of the capsule medical device are switched, and further, themagnetic guidance direction of the capsule medical device is changedaccording to the imaging direction of the operation target image afterthe switching, and other configurations are made the same as those inthe third embodiment. Therefore, the system for guiding capsule medicaldevice capable of enjoying the effect as in the case of theabove-described third embodiment, and of magnetically guiding thecapsule medical device while maintaining the correspondence relationbetween the moving direction of the operation target image and the tiltdirection of the operation input unit constant before and after theswitching of the operation target image referred to at the time of themagnetic guidance of the capsule medical device constant, thereby easilyoperating the magnetic guidance of the capsule medical device in thesubject while referring to the desired in-vivo image among a pluralityof the in-vivo images in the display screen can be realized.

Also, even when the operation target image is switched between aplurality of in-vivo images, the elevation angle information, thedirection angle information, and the information indicating that theoperation information is input, of the capsule medical device areswitched and displayed in response to such switching of the operationtarget image, so that the imaging direction and the magnetic guidancedirection of the capsule medical device in the subject can be easilyvisually recognized while referring to the operation target image afterthe switching. As a result, the magnetic guidance of the capsule medicaldeice in the subject can be easily operated while observing the in-vivoimage necessary for the examination in organ of the subject.

Next, a fifth embodiment of the present invention is described. Althoughthe capsule medical device 2 is magnetically guided in the horizontalaxis direction, that is to say, in the x-axis direction or in the y-axisdirection of the absolute coordinate system regardless of the positionof the capsule medical device 2 in the liquid 101, when magneticallyguiding the capsule medical device 2 in the subject 100 in thehorizontal direction in the above-described first to fourth embodiments,the capsule medical device 2 may be magnetically guided in the directionof the long axis 27 of the capsule medical device 2 and in a directionperpendicular to the long axis 27 (that is to say, a radial direction ofthe capsule medical device 2) in the fifth embodiment.

FIG. 28 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe fifth embodiment of the present invention. As shown in FIG. 28, asystem for guiding capsule medical device 61 according to the fifthembodiment is provided with an image display device 63 in place of theimage display device 53 of the system for guiding capsule medical device51 according to the above-described fourth embodiment, and a controldevice 66 in place of the control device 56. In the fifth embodiment,the image display device 63 is provided with a controller 64 in place ofthe controller 54 of the image display device 53 according to theabove-described fourth embodiment. Also, the control device 66 isprovided with a controller 69 in place of the controller 59 of thecontrol device 56 according to the above-described fourth embodiment.Other configurations are the same as those of the fourth embodiment, andthe same reference numerals are given to the same components.

The image display device 63 is provided with the controller 64 asdescribed above to display the information indicating that the operationinformation corresponding to the magnetic guidance in the direction ofthe long axis 27 or in the radial direction of the capsule medicaldevice 2 is input by relating the same to the operation target image.Meanwhile, the image display device 63 has the function similar to thatof the image display device 53 in the above-described fourth embodiment,except for the function of displaying the information indicating thatsuch operation information is input.

The controller 64 allows the display unit 12 to display the informationindicating that the operation information corresponding to the magneticguidance in the direction of the long axis 27 or in the radial directionof the capsule medical device 2 is input. Specifically, the controller64 receives notification that the operation information to operate themagnetic guidance in the direction of the long axis 27 or in the radialdirection of the capsule medical device 2 is input by the operationinput unit 55 from the controller 69 of the control device 66. Thecontroller 64 controls the display unit 12 to display the informationindicating that the operation information corresponding to the magneticguidance in the direction of the long axis 27 or in the radial directionof the capsule medical device 2 is input by relating the same to theoperation target image out of the above-described in-vivo images P1 andP2 based on the notification of the input. Meanwhile, the controller 64has the function similar to that of the controller 54 of the imagedisplay device 53 in the above-described fourth embodiment, except forthe display control function of the information indicating that suchoperation information is input.

On the other hand, the control device 66 is provided with the controller69 as described above to allow the magnetic guidance device 3 to performthe magnetic guidance in the direction of the long axis 27 or in theradial direction of the capsule medical device 2. Meanwhile, the controldevice 66 has the function similar to that of the control device 56 inthe above-described fourth embodiment, except for the function ofcontrolling the magnetic guidance in the direction of the long axis 27or in the radial direction of the capsule medical device 2.

The controller 69 controls the magnetic guidance device 3 tomagnetically guide the capsule medical device 2 in the direction of thelong axis 27 or in the radial direction of the capsule medical device 2based on the operation information input by the above-describedoperation input unit 55. In this case, the controller 69 controls themagnetic field strength and the magnetic field direction of the guidancemagnetic field by the magnetic field generator 5 and the movingdirection and the moving amount of the bed 4 by the drive unit 4 a, andallows the magnetic guidance device 3 to perform the magnetic guidancein the direction of the long axis 27 or in the radial direction of thecapsule medical device 2 by combination of each control with respect tothe magnetic field generator 5 and the drive unit 4 a. Here, in thefifth embodiment, the magnetic guidance direction specified by theoperation information input by the operation input unit 55 is around thevertical axis, around the horizontal axis, and the direction of the longaxis 27 and the radial direction of the capsule medical device 2. Also,the direction of the long axis 27 of the capsule medical device 2includes the imaging direction of the imaging unit 21 or 22 (that is tosay, the imaging direction of the operation target image) for example,and the radial direction of the capsule medical device 2 includes theupward and downward direction and right and left direction of theimaging surface of the imaging unit 21 or 22, for example.

Meanwhile, the controller 69 controls the magnetic guidance device 3 asis the case with the controller 59 of the control device 56 in theabove-described fourth embodiment for the magnetic guidance of thecapsule medical device 2 around the vertical axis and the magneticguidance of the capsule medical device 2 around horizontal axis. Also,the controller 69 has the function similar to that of the controller 59of the control device 56 in the above-described fourth embodiment,except for the function of controlling the magnetic guidance of thecapsule medical device 2.

Next, the magnetic guidance of the capsule medical device 2 controlledby the control device 66 in the fifth embodiment of the presentinvention is described. FIG. 29 is a schematic diagram illustrating themagnetic guidance of the capsule medical device of the fifth embodimentof the present invention.

In the fifth embodiment, the operation input unit 55 determines themagnetic guidance direction of the capsule medical device 2 in thedirection of the long axis 27, that is to say, the imaging direction ofthe operation target image out of the imaging directions B1 and B2 ofthe imaging units 21 and 22, respectively, in response to the tiltoperation of the joystick 15 a in the upward and downward direction DSshown in FIG. 25, and determines the motion speed of the capsule medicaldevice 2 in the direction of the long axis 27 in response to the tiltoperation amount in the upward and downward direction D5. In this case,the operation input unit 55 inputs the operation information to specifythe direction of the long axis 27 as the magnetic guidance direction ofthe capsule medical device 2 and to specify the motion speed of thecapsule medical device 2 in the direction of the long axis 27 to thecontroller 69 of the control device 66.

Also, the operation input unit 55 determines the magnetic guidancedirection of the capsule medical device 2 in the radial direction of thecapsule medical device 2, that is to say, the right and left directionof the imaging surface of the imaging unit 21 or 22 in response to thetilt operation of the joystick 15 a in the right and left direction D6shown in FIG. 25, and determines the motion speed of the capsule medicaldevice 2 in the right and left direction of the imaging surface inresponse to the tilt operation amount in the right and left directionD6. In this case, the operation input unit 55 inputs the operationinformation to specify the right and left direction of the imagingsurface as the magnetic guidance direction of the capsule medical device2 and to specify the motion speed of the capsule medical device 2 in theright and left direction of the imaging surface to the controller 69 ofthe control device 66.

On the other hand, the operation input unit 55 determines the magneticguidance direction of the capsule medical device 2 in the radialdirection of the capsule medical device 2, that is to say, the upwardand downward direction of the imaging surface of the imaging unit 21 or22 in response to a simultaneous tilt operation of two joysticks 15 aand 15 b in the upward and downward directions D5 and D7, respectively,and determines the motion speed of the capsule medical device 2 in theupward and downward direction of the imaging surface in response to thetilt operation amount in the upward and downward directions D5 and D7.In this case, the operation input unit 55 inputs the operationinformation to specify the upward and downward direction of the imagingsurface as the magnetic guidance direction of the capsule medical device2, and to specify the motion speed of the capsule medical device 2 inthe upward and downward direction of the imaging surface to thecontroller 69 of the control device 66.

Meanwhile, the operation information corresponding to the magneticguidance of the capsule medical device 2 around the vertical axis andthe operation information corresponding to the magnetic guidance of thecapsule medical device 2 in the horizontal axis are input to thecontroller 69 of the control device 66 by the operation input unit 55 asin the case of the above-described fourth embodiment.

The controller 69 of the control device 66 controls the magneticguidance device 3 to perform the magnetic guidance of the capsulemedical device 2 according to the magnetic guidance direction and themagnetic guidance speed specified by the operation information from theoperation input unit 55. Specifically, the controller 69 controls themagnetic field strength and the magnetic field direction of the guidancemagnetic field by the magnetic field generator 5 and the movingdirection and the moving amount of the bed 4 by the drive unit 4 a so asto perform the magnetic guidance of the capsule medical device 2 at themagnetic guidance speed specified by the operation information in theimaging direction B1 of the imaging unit 21 or the imaging direction B2of the imaging unit 22, which are parallel to the long axis 27 of thecapsule medical device 2. Alternatively, the controller 69 controls themagnetic field strength and the magnetic field direction of the guidancemagnetic field by the magnetic field generator 5 and the movingdirection and the moving amount of the bed 4 by the drive unit 4 a so asto perform the magnetic guidance of the capsule medical device 2 at themagnetic guidance speed specified by the operation information in theradial direction of the capsule medical device 2, that is to say, in theupward and downward direction or the right and left direction of theimaging surface of the imaging unit 21 or 22.

The capsule medical device 2 performs various motions according to themagnetic guidance by the magnetic guidance device 3 in the liquid 101 inthe subject 100. Specifically, as shown in FIG. 29, the capsule medicaldevice 2 in the liquid 101 performs forward and backward motion to moveforward or backward in the direction of the long axis 27 (that is tosay, the imaging direction of the operation target image) in response tothe tilt operation of the above-described joystick 15 a in the upwardand downward direction D5. Also, the capsule medical device 2 in theliquid 101 performs the right and left motion to move in the radialdirection of the capsule medical device 2, in detail, in the right andleft directions of the imaging surface (that is to say, one of the imagesurfaces of the imaging units 21 and 22) of the operation target imagein response to the tilt operation of the above-described joystick 15 ain the right and left direction D6. Also, the capsule medical device 2in the liquid 101 performs the upward and downward motion to move in theradial direction of the capsule medical device 2, in detail, in theupward and downward direction of the imaging surface of the operationtarget image, in response to the simultaneous tilt operation of theabove-described joysticks 15 a and 15 b.

Next, a display process of the information indicating that the operationinformation is input, by the image display device 63 of the fifthembodiment of the present invention is described. FIG. 30 is a schematicdiagram showing one example of the display mode of the image displaydevice according to the fifth embodiment.

The image display device 63 displays the information indicating that theoperation information of the capsule medical device 2 is input by theoperation input unit 55 by relating the same to the operation targetimage out of the above-described in-vivo images P1 and P2. In this case,the controller. 64 of the image display device 63 receives thenotification indicating that the operation information of the capsulemedical device 2 is input by the operation input unit 55 from thecontroller 69 of the control device 66, as described above, to controlthe display unit 12 to display the information indicating that theoperation information is input based on the notification.

The display unit 12 displays the information indicating that theoperation information corresponding to the magnetic guidance in thedirection of the long axis 27 or in the radial direction of the capsulemedical device 2 is input by relating the same to the in-vivo image P1,which is the operation target image out of the in-vivo images P1 and P2,as shown in FIG. 30, for example, based on the control of the controller64. In this case, the display unit 12 displays any of the marks 42 d to42 f in the vicinity of the main-image display area 12 b, or changes thedisplay color of the mark 62 a displayed in the in-vivo image P1, whichis the operation target image.

Here, the mark 42 d is the information indicating that the operationinformation of the magnetic guidance to allow the capsule medical device2 to perform the motion to the left of the right and left motion of thecapsule medical device 2 shown in FIG. 29 relative to the operationtarget direction (the imaging direction B1, for example) of the capsulemedical device 2 is input. Also, the mark 42 e is the informationindicating that the operation information of the magnetic guidance toallow the capsule medical device 2 to perform the motion to the right ofthe right and left motion of the capsule medical device 2 shown in FIG.29 relative to the operation target direction of the capsule medicaldevice 2 is input. On the other hand, the mark 42 f is the informationindicating that the operation information of the magnetic guidance toallow the capsule medical device 2 to perform the motion in an upperdirection of the upward and downward motion of the capsule medicaldevice 2 shown in FIG. 29 relative to the operation target direction ofthe capsule medical device is input. Also, the mark 42 g is theinformation indicating that the operation information of the magneticguidance to allow the capsule medical device 2 to perform the motion ina lower direction of the upward and downward motion of the capsulemedical device shown in FIG. 29 relative to the operation targetdirection of the capsule medical device 2 is input. On the other hand,the mark 62 a is the information indicating that the operationinformation of the magnetic guidance to allow the capsule medical device2 to perform the forward and backward motion of the capsule medicaldevice 2 shown in FIG. 29 is input.

When the joystick 15 a of the operation input unit 55 is operated so asto tilt to the left out of the right and left direction D6, the displayunit 12 displays the mark 42 d in the vicinity of the left side of themain-image display area 12 b and on the central line of the in-vivoimage P1 as shown in FIG. 30. Also, when the joystick 15 a of theoperation input unit 55 is operated so as to tilt to the right out ofthe right and left direction D6, the display unit 12 displays the mark42 e in the vicinity of the right side of the main-image display area 12b and on the central line of the in-vivo image P1. On the other hand,when the joysticks 15 a and 15 b of the operation input unit 55 aresimultaneously operated so as to tilt to the back side, the display unit12 displays the mark 42 f in the vicinity of the upper side of themain-image display area 12 b as shown in FIG. 30. Also, when thejoysticks 15 a and 15 b of the operation input unit 55 aresimultaneously operated to tilt to the front side, the display unit 12displays the mark 42 g in the vicinity of the lower side of themain-image display area 12 b as shown in FIG. 30.

On the other hand, the display unit 12 displays the mark 62 a in thein-vivo image P1, which is the operation target image, and on thecentral location between the marks 42 a and 42 b of the above-describedelevation angle information, as shown in FIG. 30. The display unit 12displays the marks 42 a, 42 b, and 62 a in the in-vivo image P1 byarranging them in one line lengthwise. The display unit 12 moves themark 62 a together with the marks 42 a and 42 b while maintaining thespace between the same and the marks 42 a and 42 b constant based on thecontrol of the controller 64.

Here, when the joystick 15 a of the operation input unit 55 is operatedto tilt in the upward and downward direction D5, the display unit 12changes the display color of the mark 62 a in the in-vivo image P1 fromthe default color (such as yellow) to another color (such as blue).Thereby, the display unit 12 displays the information indicating thatthe operation information corresponding to the tilt operation of thejoystick 15 a, that is to say, the operation information of the magneticguidance to allow the capsule medical device 2 to perform the forwardand backward motion of the capsule medical device 2 as shown in FIG. 29is input.

Meanwhile, the display unit 12 may always display the marks 42 d to 42 gin the vicinity of the main-image display area 12 b with thepredetermined color (such as white) regardless of the presence of theinput of the operation information by the operation input unit 55, andwhen such operation information is input, the display unit 12 maydisplay by changing the color of the mark corresponding to the operationinformation out of the marks 42 d to 42 g to another color (such asyellow).

Also, in above-described FIG. 30, as one example, although the in-vivoimage P1 by the imaging unit 21 is the operation target image, and themarks 42 a and 42 b of the elevation angle information, the directioninformation 42 c, and the marks 42 d to 42 f and 62 a are displayed bybeing related to the in-vivo image P1, the present invention is notlimited to this. That is to say, the in-vivo image P2 by the imagingunit 22 may be the operation target image, and in this case, the displayunit 12 may display the above-described marks 42 a and 42 b of theelevation angle information, the direction information 42 c, and themarks 42 d to 42 g and 62 a by relating them to the in-vivo image P2,which is the operation target image. Meanwhile, each display process ofthe marks 42 a and 42 b of the elevation angle information, thedirection information 42 c, and the frame image 32 a by the display unit12 is similar to that in the case of the above-described fourthembodiment.

As described above, in the system for guiding capsule medical deviceaccording to the fifth embodiment of the present invention, the capsulemedical device is magnetically guided in the long axis direction or inthe radial direction of the capsule medical device, and the informationindicating that the operation information of the magnetic guidance isinput is displayed by being related to the operation target image, andother configurations are made the same as those in the case of thefourth embodiment. Therefore, the system for guiding capsule medicaldevice capable of enjoying the effect similar to that of theabove-described fourth embodiment, and of easily magnetically guidingthe capsule medical device in the subject based on the imaging directionof the operation target image, which is referred to when operating themagnetic guidance of the capsule medical device can be realized.

Next, a sixth embodiment of the preset invention is described. Thesystem for guiding capsule medical device according to the sixthembodiment allows a temporal swaying motion of the capsule medicaldevice 2 by an applied magnetic field before magnetically guiding thecapsule medical device 2 in a state floating on a liquid surfacedownward from the liquid surface, thereby eliminating the effect ofsurface tension of the liquid surface on the capsule medical device 2.

FIG. 31 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe sixth embodiment of the present invention. As shown in FIG. 31, asystem for guiding capsule medical device 71 according to the sixthembodiment is provided with a control device 76 in place of the controldevice 66 of the system for guiding capsule medical device 61 accordingto the above-described fifth embodiment. In the sixth embodiment, thecontrol device 76 is provided with a controller 79 in place of thecontroller 69 of the control device 66 according to the above-describedfifth embodiment. Other configurations are the same as those of thefifth embodiment, and the same reference numerals are given to the samecomponents.

The control device 76 is provided with the controller 79 as describedabove to control the magnetic guidance device 3 to eliminate the surfacetension of the liquid surface acting on the capsule medical device 2 inthe state floating on the liquid surface before magnetically guiding thecapsule medical device 2 in the subject 100 downward from the liquidsurface of the liquid 101. The control device 76 controls the magneticguidance device 3 to magnetically guide the capsule medical device 2 inthe state released from the effect of surface tension of the liquidsurface in this manner under the liquid surface. Meanwhile, the controldevice 76 has the function similar to that of the control device 66 inthe above-described fifth embodiment except an elimination controlfunction of the surface tension of the liquid acting on the capsulemedical device 2.

When the magnetic guidance of the capsule medical device 2 downward fromthe liquid surface of the liquid 101 is specified by the operationinformation from the operation input unit 55, the controller 79 controlsthe magnetic guidance device 3 to eliminate the effect of surfacetension of the liquid surface on the capsule medical device 2 based onthe operation information, and controls the magnetic guidance device 3to magnetically guide the capsule medical device 2 in the state releasedfrom the effect of surface tension of the liquid surface downward fromthe liquid surface. In this case, the controller 79 controls themagnetic field generator 5 to apply an elimination magnetic field toeliminate the effect of surface tension of the liquid surface on thecapsule medical device 2 to the capsule medical device 2, and controlsthe elimination of the surface tension of the liquid surface on thecapsule medical device 2 through the control of the magnetic fieldgenerator 5. Meanwhile, the controller 79 has the function similar tothat of the controller 69 of the control device 66 in theabove-described fifth embodiment, except for the elimination controlfunction of the surface tension of the liquid surface on the capsulemedical device 2.

Next, the magnetic guidance control of the capsule medical device 2 bythe control device 76 according to the sixth embodiment of the presentinvention is described. FIG. 32 is a flowchart showing one example ofthe procedure of the control device when magnetically guiding thecapsule medical device in the state floating on the liquid surfacedownward from the liquid surface. FIG. 33 is a schematic diagram showinga state in which the effect of surface tension of the liquid surface onthe capsule medical device is eliminated. FIG. 34 is a schematic diagramshowing a state of returning the position of the capsule medical devicein the liquid.

The control device 76 controls the magnetic guidance device 3 tomagnetically guiding the capsule medical device 2 under the liquidsurface after eliminating the effect of surface tension of the liquidsurface on the capsule medical device 2 in the state floating on theliquid surface of the liquid 101 at the step S202 shown inabove-described FIG. 26.

That is to say, as shown in FIG. 32, the controller 79 of the controldevice 76 controls the magnetic guidance device 3 to eliminate theeffect of surface tension of the liquid surface on the capsule medicaldevice 2 in the state floating on the liquid surface before magneticallyguiding the capsule medical device 2 in the subject 100 under the liquidsurface of the liquid 101 (step S301).

At the step S301, the controller 79 controls the magnetic fieldgenerator 5 to generate the elimination magnetic field to eliminate theeffect of surface tension of the liquid surface on the capsule medicaldevice 2. Here, the elimination magnetic field is a rotating magneticfield reciprocally rotating around the horizontal axis at apredetermined rotation frequency (0.5 to 3 Hz, for example) and isapplied to the capsule medical device 2 aside from the above-describedguidance magnetic field control by the controller 79. The magnetic fieldgenerator 5 applies the elimination magnetic field to the capsulemedical device 2 based no the control by the controller 79, therebyeliminating the effect of surface tension of the liquid surface on thecapsule medical device 2.

By the effect of such an elimination magnetic field, the capsule medicaldevice 2 in the floating state sinks under the liquid surface of theliquid 101 while temporally changing the position thereof. Specifically,the capsule medical device 2 in the state floating on the liquid surfaceof the liquid 101 incorporates the permanent magnet 26 as describedabove, and performs the reciprocating rotational motion around thehorizontal axis in numeric order shown in FIG. 33 following theelimination magnetic field by the magnetic field generator 5. In thiscase, the capsule medical device 2 in the floating state performs thereciprocating rotational motion at the rotation frequency of 0.5 to 3Hz, for example, thereby changing the position thereof at high speed andgenerating vertically downward inertial force. The capsule medicaldevice 2 in the floating state temporally sinks under the liquid surfaceby such a vertically downward inertial force, and consequently isreleased from the effect of surface tension of the liquid surface.

After carrying out the procedure at the above-described step S301, thecontroller 79 controls the magnetic field generator 5 to applyvertically downward magnetic force to the capsule medical device 2 inthe state released from the effect of surface tension of the liquidsurface (step S302). At the step S302, the magnetic field generator 5applies the vertically downward magnetic field to the capsule medicaldevice 2 in the state released from the surface tension, that is to say,the capsule medical device 2 in a state temporally sinking under theliquid surface of the liquid 101 by the effect of the above-describedelimination magnetic field, based on the control of the controller 79.Thereby, the magnetic field generator 5 applies vertically downwardmagnetic attraction force to the capsule medical device 2 under theliquid surfacer and maintains the capsule medical device 2 at thelocation in the vicinity of the liquid surface under the liquid surfaceby the effect of the magnetic attraction force as shown in FIG. 33.Meanwhile, it is desirable that the vertically downward magnetic fieldby the magnetic field generator 5 is the magnetic field having themagnetic force enough to cancel out difference between gravity force andfloating force acting on the capsule medical device 2.

Thereafter, the controller 79 controls the magnetic field generator 5 toreturn the position of the capsule medical device 2 of which position ischanged at the step S301 to the state before eliminating the surfacetension effect (step S303). At the step S303, the magnetic fieldgenerator 5 applies the magnetic field to return the position to thecapsule medical device 2 under the liquid surface based on the controlof the controller 79. Specifically, the magnetic field generator 5applies the magnetic field in the same magnetic field direction as thatof the guidance magnetic field applied to the capsule medical device 2just before applying the magnetic field for eliminate the surfacetension effect to the capsule medical device in the floating state atthe above-described step S301 to the capsule medical device 2 under theliquid surface as the magnetic field to return the position. Thereby,the magnetic field generator 5 returns the position of the capsulemedical device 2 under the liquid surface to the position beforeeliminating the surface tension effect (position indicated by a brokenline in FIG. 33).

The capsule medical device 2 under the liquid surface returns theposition before eliminating the surface tension effect by the effect ofthe magnetic field to return the position. Specifically, as shown inFIG. 34, the capsule medical device 2 under the liquid surface performsthe position returning motion such as the swaying motion following sucha magnetic field to return the position, thereby recreating the positionjust before the above-described elimination magnetic field is applied(position before eliminating the surface tension effect).

After carrying out the procedure of the above-described step S303, thecontroller 79 controls the magnetic guidance device 3 to perform themagnetic guidance of the capsule medical device 2 according to theoperation of the above-described operation input unit 55 (step S304),and returns to the step S202 shown in above-described FIG. 26,thereafter. At the step S304, the controller 79 controls the magneticguidance device 3 to perform the magnetic guidance of the capsulemedical device 2 in the magnetic guidance direction and at the magneticguidance speed specified by the operation information from theabove-described operation input unit 55. In this case, the capsulemedical device 2 under the liquid surface performs at least one of theswaying motion, the turning motion, the forward and backward motion inthe imaging direction of the operation target image, and the right andleft motion and the upward and downward motion based on the imagingdirection of the image target image, as in the case of theabove-described fifth embodiment.

Here, the conventional system for guiding capsule medical device appliesthe guidance magnetic field having the magnetization direction downwardunder the liquid surface to the permanent magnet 26 in the capsulemedical device 2 in the floating state, when magnetically guiding thecapsule medical device 2 in the state floating on the liquid surfaceunder the liquid surface. In this case, the conventional system forguiding capsule medical device is required to generate the guidancemagnetic field having the magnetic field strength stronger than that atthe time of the magnetic guidance of the capsule medical device 2 underthe liquid surface, in order to resist the surface tension of the liquidsurface acting on the capsule medical device 2 in the floating state.That is to say, the conventional system for guiding capsule medicaldevice sinks the capsule medical device 2 in the floating state underthe liquid surface and simultaneously magnetically guides the capsulemedical device 2 in the lower side of the liquid surface by the effectof the guidance magnetic field having such a high magnetic fieldstrength. Therefore, it is difficult to control the capsule medicaldevice 2 in the vicinity and under the liquid surface with theconventional system for guiding capsule medical device, and the capsulemedical device 2 might be magnetically guided at the location or in thedirection in the liquid 101, which are not intended.

On the other hand, the system for guiding capsule medical device 71according to the sixth embodiment of the present invention eliminates inadvance the effect of the surface tension of the liquid surface on thecapsule medical device 2 by applying the elimination magnetic field tothe capsule medical device 2 in the floating state as described above,when magnetically guiding the capsule medical device 2 in the statefloating on the liquid surface of the liquid 101 under the liquidsurface. Next, the system for guiding capsule medical device 71 stopsthe capsule medical device 2 in the state released from the effect ofthe surface tension in the vicinity and under the liquid surface by themagnetic force, and returns the position of the capsule medical device 2under the liquid surface to the original state. Thereafter, the systemfor guiding capsule medical device 71 carries out the magnetic guidanceof the capsule medical device 2 by applying the above-described guidancemagnetic field to the capsule medical device 2 in such a state. Thesystem for guiding capsule medical device 71 can carry out the magneticguidance of the capsule medical device 2 after eliminating the effect ofsurface tension of the liquid surface from the capsule medical device 2,and consequently, the system for guiding capsule medical device 71 mayeasily control the capsule medical device 2 in the vicinity and underthe liquid surface, and can easily magnetically guide the capsulemedical device 2 in the desired location and direction in the liquid101.

As described above, in the system for guiding capsule medical deviceaccording to the sixth embodiment of the present invention, it isconfigured to apply the elimination magnetic field to eliminate theeffect of surface tension on the liquid surface to the capsule medicaldevice in the state floating on the liquid surface to release thecapsule medical device from the effect of surface tension on the liquidsurface, and to apply the guidance magnetic field to the capsule medicaldevice in the state released from the surface tension to magneticallyguide the capsule medical device thereafter, and other configurationsare made the same as those of the fifth embodiment. Therefore, thesystem for guiding capsule medical device capable of enjoying the effectsimilar to that of the above-described fifth embodiment, and of smoothlymagnetically guiding the capsule medical device in the state floating onthe liquid surface under the liquid surface without applying theguidance magnetic field having unnecessarily high magnetic fieldstrength to the capsule medical device can be realized.

Next, a seventh embodiment of the present invention is described.Although the magnetic guidance of the capsule medical device 2 iscontrolled by combining the magnetic field generation control of themagnetic field generator 5 for magnetically capturing the capsulemedical device 2 in the subject 100 and the motion control of the tableportion of the bed 4 for supporting the subject 100 in theabove-described first to sixth embodiments, the capsule medical deviceis magnetically guided by the guidance magnetic field generated bycombining the magnetic fields in the x-axis, y-axis, and z-axisdirections of the absolute coordinate system in the seventh embodiment.

FIG. 35 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe seventh embodiment of the present invention. As shown in FIG. 35, asystem for guiding capsule medical device 81 according to the seventhembodiment is provided with a capsule medical device 82 in place of thecapsule medical device 2 of the system for guiding capsule medicaldevice 71 according to the above-described sixth embodiment, a magneticguidance device 83 in place of the magnetic guidance device 3, and acontrol device 86 in place of the control device 76. Also, the capsulemedical device 81 is provided with a location detector 84 for detectinga location of the capsule medical device 82 in the subject 100. In thisseventh embodiment, the control device 86 is provided with a controller89 in place of the controller 79 of the control device 76 according tothe above-described sixth embodiment. Other configurations are the sameas those of the sixth embodiment, and the same reference numerals aregiven to the same components.

The capsule medical device 82 is the capsule-type medical deviceincorporating the function of imaging the in-vivo image of the subject100 and the radio communication function, and can be magnetically guidedby the magnetic guidance device 83. FIG. 36 is a schematic diagramshowing one configuration example of the capsule medical deviceaccording to the seventh embodiment of the present invention. As shownin FIG. 36, the capsule medical device 82 according to the seventhembodiment is provided with a spiral structure 20 d having a spiralshape on an outer wall of the capsule casing 20. Also, the permanentmagnet 26 is incorporated in the capsule medical device 82 in a mode inwhich the central axis thereof is arranged on the long axis 27 of thecapsule casing 20. Meanwhile, the central axis of the permanent magnet26 is one of axes of rotation at the time of rotation following theguidance magnetic field by the magnetic guidance device 83. Otherconfigurations of the capsule medical device 82 are the same as those ofthe capsule medical device 2 in the above-described first to sixthembodiments, and the same reference numerals are given to the samecomponents.

The spiral structure 20 d is the structure for generating driving forcein the direction of the long axis 27 of the capsule medical device 82.Specifically, the spiral structure 20 d is fixed to the outer wall ofthe capsule casing 20 in a mode to form the spiral shape around the longaxis 27 of the capsule casing 20 as shown in FIG. 36. The spiralstructure 20 d is in a state protruding from the outer wall of thecapsule casing 20 along the spiral shape, and the spiral structure 20 dcontacts the digestive tract such as intestines in the subject 100, androtates around the long axis 27 to contact the wall of the digestivetract by screwing. As a result, the spiral structure 20 d generates thedriving force in the direction of the long axis 27 of the capsulemedical device 82. The capsule medical device 82 moves forward andbackward in the direction of the long axis 27 by the driving forcegenerated by the spiral structure 20 d.

The magnetic guidance device 83 is for magnetically guiding the capsulemedical device 82 in the subject 100. Specifically, the magneticguidance device 83 is realized by using combination of a plurality ofmagnetic field generation coils such as Helmholtz coils. The magneticguidance device 83 generates the magnetic field having the magneticfield strength based on the current amount from the power unit 7 in theaxial directions (x-axis direction, y-axis direction, and z-axisdirection) of the above-described absolute coordinate system, andcombines the magnetic fields in the axial directions to generate theguidance magnetic field. Meanwhile, the guidance magnetic field by themagnetic guidance device 83 is a three-dimensional homogenous magneticfield, rotating magnetic field, or gradient magnetic field in theabsolute coordinate system. The magnetic guidance device 83 applies theguidance magnetic field to the capsule medical device 82 in the subject100, which is a three-dimensional space of the absolute coordinatesystem, thereby, the magnetic guidance device 83 magnetically guides thecapsule medical device 82 in the subject 100, and as a result, thethree-dimensional location and position of the capsule medical device 82in the subject 100 are controlled.

The location detector 84 detects the location of the capsule medicaldevice 82 in the subject 100. Specifically, the location detector 84 isrealized by using a magnetic detection coil or the like. The locationdetector 84 detects the magnetic field generated by the permanent magnet26 in the capsule medical device 82 based on the control of the controldevice 86. The location detector 84 detects a three-dimensional locationof the capsule medical device 82 in the absolute coordinate system, thatis to say, the location of the capsule medical device 82 in the subject100 based on the detection result (such as the magnetic field strength)of the magnetic field. The location detector 84 transmits the locationdetection result of the capsule medical device 82 to the controller 89of the control device 86.

Meanwhile, the location detector 84 is not limited to that performingthe location detection process based on such a magnetic field detectionresult, and the location detector 84 may be provided with a plurality ofreceiving antennas for receiving the radio signal from the capsulemedical device 82 to detect the location of the capsule medical device82 in the subject 100 based on received electric-field strength of thereceiving antennas.

The control device 86 is provided with a controller 89 as describedabove to control the above-described magnetic guidance device 83 andlocation detector 84. Meanwhile, the control device 86 has the functionsimilar to that of the control device 76 in the above-described sixthembodiment, except for the control functions of the magnetic guidancedevice 83 and location detector 84.

The controller 89 controls the current amount of the power unit 7 toeach magnetic field generation coil of the magnetic guidance device 83based on the operation information input by the operation input unit 55,and controls the guidance magnetic field generation operation of themagnetic guidance device 83 through the control of the power unit 7. Inthis case, the controller 89 obtains the location detection result ofthe capsule medical device 82 in the subject 100 from the locationdetector 84 by controlling the above-described location detector 84. Thecontroller 89 controls the magnetic guidance device 83 to apply theguidance magnetic field according to the operation information from theoperation input unit 55 to a coordinate location of the absolutecoordinate system indicated in the obtained location detection result,that is to say, the current location of the capsule medical device 82 inthe subject 100. Also, the controller 89 controls the display unit 17 todisplay the location information of the capsule medical device 82 in thesubject 100 based on the location detection result of the capsulemedical device 82 obtained from the location detector 84. Meanwhile, thecontroller 89 has the function similar to that of the controller 79 ofthe control device 76 in the above-described sixth embodiment, exceptfor the control functions of the magnetic guidance device 83 andlocation detector 84.

Next, the magnetic guidance of the capsule medical device 82 accordingto the seventh embodiment in the direction of the long axis 27 isdescribed. FIG. 37 is a schematic diagram showing a state in which thecapsule medical device according to the seventh embodiment of thepresent invention is magnetically guided in the long axis direction.

When the capsule medical device 82 reaches in the digestive tract suchas the intestines of the subject 100, this is in the state in which thewall of the digestive tract and the spiral structure 20 d contact eachother by screwing as shown in FIG. 37. Here, the magnetic guidancedevice 83 generates the guidance magnetic field rotating around the longaxis 27 of the capsule medical device 82, and applies the guidancemagnetic field around the long axis 27 to the permanent magnet 26 in thecapsule medical device 82 based on the control of the controller 89. Inthis case, the permanent magnet 26 rotates around the long axis 27 withthe spiral structure 20 d following such a guidance magnetic field. Thespiral structure 20 d rotates around the long axis 27 while contactingthe wall of the digestive tract by screwing, thereby generating thedriving force in the direction of the long axis 27. The capsule medicaldevice 82 moves forward and backward in the direction of the long axis27 by the effect of the spiral structure 20 d. The magnetic guidancedevice 83 magnetically guides the capsule medical device 82 in thedirection of the long axis 27 while allowing the capsule medical device82 to move forward and backward by the effect of the guidance magneticfield in this manner.

As described above, in the system for guiding capsule medical deviceaccording to the seventh embodiment of the present invention, it isconfigured that the capsule medical device provided with the spiralstructure around the long axis of the capsule casing is introduced intothe organ of the subject, and the guidance magnetic field generated bycombining the magnetic fields in the axial directions of the absolutecoordinate system is applied to the capsule medical device in thesubject to magnetically guide the capsule medical device, and otherconfigurations are made the same as those of the sixth embodiment.Therefore, the system for guiding capsule medical device capable ofenjoying the effect similar to that of the above-described sixthembodiment, and of easily magnetically guiding the capsule medicaldevice along the digestive tract by rotating the spiral structure in thestate of contacting the wall of the digestive tract along the long axisof the capsule casing.

Next, an eighth embodiment of the present invention is described.Although the magnetic guidance of the capsule medical device 2 iscontrolled by combining magnetic field generation control of themagnetic field generator 5 for magnetically capturing the capsulemedical device 2 in the subject 100 and motion control of the tableportion of the bed 4 for supporting the subject 100 in theabove-described first to sixth embodiments, the capsule medical deviceis magnetically guided by the gradient magnetic field generated as theguidance magnetic field in the eighth embodiment.

FIG. 38 is a block diagram schematically showing one configurationexample of the system for guiding capsule medical device according tothe eighth embodiment of the present invention. As shown in FIG. 38, asystem for guiding capsule medical device 91 according to the eighthembodiment is provided with a capsule medical device 92 in place of thecapsule medical device 2 of the system for guiding capsule medicaldevice 71 according to the above-described sixth embodiment, a magneticguidance device 93 in place of the magnetic guidance device 3, and acontrol device 96 in place of the control device 76. Also, the systemfor guiding capsule medical device 91 is provided with a locationposition detector 94 for detecting the location and the position of thecapsule medical device 92 in the subject 100. In the eighth embodiment,the control device 96 is provided with a controller 99 in place of thecontroller 79 of the control device 76 according to the above-describedsixth embodiment. Other configurations are the same as those of thesixth embodiment, and the same reference numerals are given to the samecomponents.

The capsule medical device 92 is the capsule-type medical deviceincorporating the function of imaging the in-vivo image of the subject100 and the radio communication function, and can be magnetically guidedby the magnetic guidance device 93. FIG. 39 is a schematic diagramshowing one configuration example of the capsule medical deviceaccording to the eighth embodiment of the present invention. As shown inFIG. 39, the capsule medical device 92 according to the eighthembodiment is provided with a permanent magnet 97 magnetized in thedirection of the long axis 27 of the capsule casing 20 in place of thepermanent magnet 26 magnetized in the radial direction as describedabove. Meanwhile, other configurations in the capsule medical device 92are the same as the capsule medical device 2 in the above-describedfirst to sixth embodiments, and the same reference numerals are given tothe same components.

The permanent magnet 97 is for enabling the magnetic guidance of thecapsule medical device 92 by the magnetic guidance device 93. Thepermanent magnet 97 is arranged in the capsule casing 20 in a staterelatively fixed with respect to the imaging units 21 and 22. In thiscase, the permanent magnet 97 is magnetized in the direction of the longaxis 27 of the capsule casing 20 as shown in FIG. 39. That is to say,the magnetization direction of the permanent magnet 97 is parallel tothe imaging directions of the above-described imaging units 21 and 22.Also, a central axis 97 a of the permanent magnet 97 is parallel to thelong axis 27 of the capsule casing 20 and deviated from the center ofgravity 29 of the capsule medical device 2. That is to say, the centerof gravity 29 of the capsule medical device 92 is not located on thecentral axis 97 a of the permanent magnet 97.

The guidance magnetic field is applied from the outside of the capsulemedical device 92 to the permanent magnet 27 thus arranged by themagnetic guidance device 93. The permanent magnet 97 moves followingsuch a guidance magnetic field, and consequently realizes the magneticguidance of the capsule medical device 92 by the magnetic guidancedevice 93. In this case, the capsule medical device 92 moves to changeat least one of the location, the position, and the direction in thesubject 100 by the effect of the permanent magnet 97. Alternatively, thecapsule medical device 92 maintains the state of being stopped at thedesired location in the subject 100 by the effect of the permanentmagnet 97.

The magnetic guidance device 93 is for magnetically guiding the capsulemedical device 92 in the subject 100. Specifically, the magneticguidance device 93 is realized by combining a plurality of magneticfield generation coils. The magnetic guidance device 93 generates thegradient magnetic field in which magnetic flux density changes in adesired direction in the above-described absolute coordinate systembased on the power supplied from the power unit 7, and applies thegradient magnetic field to the capsule medical device 92 in the subject100 as the guidance magnetic field. Thereby, the magnetic guidancedevice 93 magnetically guides the capsule medical device 92 in thesubject 100, which is the three-dimensional space of the absolutecoordinate system. More specifically, the magnetic guidance device 93controls the position of the capsule medical device 92 in the subject100 (that is to say, the three-dimensional direction of the long axis 27of the capsule medical device 92) by the magnetic field direction of theapplied gradient magnetic field. Also, the magnetic guidance device 93controls the location of the capsule medical device 92 in the subject100 by magnetic attraction force of the applied gradient magnetic field.

The location position detector 94 detects the location and the positionof the capsule medical device 92 in the subject 100. Specifically, thelocation position detector 94 is realized by using the magnetic fielddetection coil or the like. The location position detector 94 detectsthe magnetic field strength and the magnetic field direction of themagnetic field generated from the permanent magnet 27 in the capsulemedical device 92 based on the control of the control device 96. Thelocation position detector 94 detects the three-dimensional location ofthe capsule medical device 92 in the absolute coordinate system, that isto say, the location of the capsule medical device 92 in the subject100, based on the detected magnetic field strength. Also, the locationposition detector 94 detects the direction of the long axis 27 and theradial direction of the capsule medical device 92 in the absolutecoordinate system based on the detected magnetic field direction todetect the position of the capsule medical device 92 defined by thedirection of the long axis 27 and the radial direction. The locationposition detector 94 transmits the detection results of the location andthe position of the capsule medical device 92 to the controller 99 ofthe control device 96.

Meanwhile, the location position detector 94 is not limited to thatperforming the location detection process based on such a magnetic fielddetection result, and the location position detector 94 may be providedwith a plurality of receiving antennas receiving the radio signal fromthe capsule medical device 92 to detect the location of the capsulemedical device 92 in the subject 100 based on the receivedelectric-field strength of the receiving antennas.

The control device 96 is provided with the controller 99 as describedabove to control the above-described magnetic guidance device 93 andlocation position detector 94. Meanwhile, the control device 96 has thefunction similar to that of the control device 76 in the above-describedsixth embodiment, except for the control functions of the magneticguidance device 9 and location position detector 94.

The controller 99 controls the current amount of the power unit 7 to themagnetic field generation coil of the magnetic guidance device based onthe operation information input by the operation input unit 55, andcontrols the guidance magnetic field generation operation of themagnetic guidance device 93 through the control of the power unit 7. Inthis case, the controller 99 determines the gradient direction and themagnetic field direction of the guidance magnetic field in the absolutecoordinate system based on the magnetic guidance direction specified bythe operation information from the operation input unit 55. Also, thecontroller 99 determines gradient change of the guidance magnetic fieldin the absolute coordinate system (that is to say, the magneticattraction force by the guidance magnetic field) based on the magneticguidance speed specified by the operation information. The controller 99controls the magnetic guidance device 93 to apply the guidance magneticfield having the gradient direction, the magnetic field direction andthe gradient change thus determined to the capsule medical device 92 inthe subject 100. The controller 99 controls the position of the capsulemedical device 92 in the subject 100 through the control of the magneticfield direction of such a guidance magnetic field, and controls thelocation of the capsule medical device 92 in the subject 100 through thecontrol of the gradient direction and the gradient change of such aguidance magnetic field.

Also, the controller 99 controls the above-described location positiondetector 94 to obtain the detection results of the location and theposition of the capsule medical device 92 in the subject 100 from thelocation position detector 94. The controller 99 controls the displayunit 17 to display the location information of the capsule medicaldevice 92 in the subject 100 based on the location detection result ofthe capsule medical device 92 obtained from the location positiondetector 94. Also, the controller 99 calculates the elevation angle andthe direction angle of the capsule medical device 92 in the subject 100based on the position detection result of the capsule medical device 92obtained from the location position detector 94. The controller 99controls the display unit 17 to display the elevation angle informationand the direction angle information of the capsule medical device 92thus calculated. Meanwhile, other function of the controller 99 is thesame as that of the controller 79 of the control device 76 in theabove-described sixth embodiment.

Meanwhile, in the eighth embodiment, the controller 64 of the imagedisplay device 63 obtains the position detection result of the capsulemedical device 92 by the location position detector 94 from thecontroller 99 of the above-described control device 96. The controller64 allows the display unit 12 to display the in-vivo image by conformingthe direction of intersection line of the above-described in-vivo imageand the up and own direction of the display screen based on the obtainedposition detection result. In this case, the image processor 14 acalculates the upward and downward directions D2 and D3 of the imagingsurfaces of the solid-state imaging devices 21 c and 22 c, respectively,of the capsule medical device 92, based on the position detection resultof the capsule medical device 92 obtained from the controller 99 of thecontrol device 92. The image processor 14 a rotates the in-vivo image asnecessary based on the relative relation between the radial direction ofthe capsule casing 10, which is known, and the upward and downwarddirections D2 and D3 of the imaging surfaces of the solid-state imagingdevices 21 c and 22 c, respectively, thereby conforming the direction ofintersection line in the in-vivo images P1 and P2 by the solid-stateimaging devices 21 and 22 c, respectively, and the upward and downwarddirection of the display screen of the display unit 12.

As described above, in the system for guiding capsule medical deviceaccording to the eighth embodiment of the present invention, it isconfigured that the capsule medical device provided with the permanentmagnet magnetized in the direction of long axis of the capsule casing isintroduced into the organ of the subject, and the gradient magneticfield inclined in a desired direction of the absolute coordinate systemis applied to the capsule medical device in the subject to magneticallyguide the capsule medical device, and other configurations are made thesame as those of the sixth embodiment. Therefore, the system for guidingcapsule medical device capable of enjoying the effect similar to that ofthe above-described sixth embodiment, and of magnetically guiding thecapsule medical device by the magnetic attraction force in the gradientdirection of the gradient magnetic field, and consequently, capable ofmagnetically guiding the capsule medical device in the desired directionin the subject with the simple configuration can be realized.

Meanwhile, although the guidance magnetic field is generated by themagnetic field generator 5 provided with the above-described z-axis coil5 a, a pair of x-axis coils 5 b and 5 c, and a pair of y-axis coils 5 dand 5 e on the table 5 f in the above-described first to sixthembodiments, the present invention is not limited to this, and theguidance magnetic field may be generated by the magnetic field generatorrealized by three-dimensionally combining the three axial directioncoils generating the magnetic fields in the axial directions of theabsolute coordinate system. FIG. 40 is a schematic diagram showing onemodification of the magnetic field generator of the system for guidingcapsule medical device according to the present invention. As shown inFIG. 40, the magnetic field generator in the present invention isrealized by three-dimensionally combining an x-axis coil 106 a forgenerating the magnetic field in the x-axis direction of the absolutecoordinate system, a y-axis coil 106 b for generating the magnetic fieldin the y-axis direction of the absolute coordinate system, and a z-axiscoil 106 c for generating the magnetic field in the z-axis direction ofthe absolute coordinate system. The x-axis coil 106 a and the y-axiscoil 106 b roll up a metal core 105 such as iron in a mode orthogonal toeach other. The z-axis coil 106 c is arranged on an upper portion of thex-axis coil 106 a and y-axis coil 106 b.

Also, a relative location of the table portion of the bed 4 with respectto the magnetic field generator 5, that is to say, the relative locationof the subject 100 with respect to the magnetic field generator 5 ischanged by horizontally moving the table portion of the bed 4 supportingthe subject 100 in at least one of the x-axis direction and the y-axisdirection of the absolute coordinate system in the above-described firstto sixth embodiments, the present invention is not limited to this. FIG.41 is a schematic diagram showing one example of the motion states ofthe table portion of the bed and the magnetic field generator. As shownin FIG. 41, the magnetic guidance device 3 may horizontally move thetable portion of the bed 4 in the y-axis direction of the absolutecoordinate system, and may horizontally move the magnetic fieldgenerator 5 in the x-axis direction of the absolute coordinate system.Alternatively, the magnetic guidance device 3 may horizontally move thetable portion of the bed 4 in the x-axis direction of the absolutecoordinate system, and may horizontally move the magnetic fieldgenerator 5 in the y-axis direction of the absolute coordinate system.In any case, the magnetic guidance device 3 may appropriately combinethe horizontal motion of the table portion of the bed 4 and thehorizontal motion of the magnetic field generator 5, thereby changingthe relative location of the subject 100 with respect to the magneticfield generator 5.

Further, although the operation target image is clearly shown bydisplaying the frame image 32 a around the main-image display areadisplaying the operation target image in the above-described second,fourth to eighth embodiments, the present invention is not limited tothis. FIG. 42 is a schematic diagram showing a modification of the stateclearly showing the operation target image in the image display deviceaccording to the present invention. The image display device accordingto the present invention may enlarge a display size of the operationtarget image relative to a non-operation target image out of a pluralityof the in-vivo images, as shown in FIG. 42, for example, thereby clearlyshowing the operation target image. Alternatively, the image displaydevice according to the present invention may add the predetermined markto the operation target image out of a plurality of the in-vivo images,thereby clearly showing the operation target image.

Also, although the direction angle information of the capsule medicaldevice is displayed by displaying the bar-type direction information 42c in the vicinity of the outer side of the operation target image in theabove-described third to eighth embodiments, the present invention isnot limited to this. FIG. 43 is a schematic diagram showing amodification of the display state of the direction angle information ofthe capsule medical device in the operation target image, as shown inFIG. 43, for example. The image display device according to the presentinvention may appropriately display pieces of circular arc-shapeddirection information 42 c-1 to 42 c-4 each including an arrow differentfor each direction of the capsule medical device. In this case, theimage display device according to the present invention sequentiallydisplay the pieces of direction information 42 c-1, 42 c-2, 42 c-3, and42 c-4 in this order or in reverse in the operation target image, inresponse to change in direction angle (that is to say, the turningmotion) of the capsule medical device. Meanwhile, the display locationof the arrows in the pieces of direction information 42 c-1 to 42 c-4 insuch an operation target image may be set in consideration of thedistortion of the optical system of the capsule medical device. Also,the image display device according to the present invention may move thedirection information displayed in the operation target image out of thepieces of the direction information 42 c-1 to 42 c-4 to the upward anddownward direction of the operation target image in response to changein the elevation angle (that is to say, the swaying motion) of thecapsule medical device. In this case, the image display device accordingto the present invention is not required to display the above-describedmarks 42 a and 42 b of the elevation angle information.

Further, the direction of the capsule medical device is indicated by thearrow included in each of the pieces of direction information 42 c-1 to42 c-4 in the above-described third to eighth embodiments, the presentinvention is not limited to this. Specifically, when the direction ofthe subject is defined with respect to the display screen, characterinformation indicating a region of the subject such as the head side,the foot side, the stomach side, and the back side is included in thepieces of direction information 42 c-1 to 42 c-4 in place of such anarrow. The image display device according to the present invention maydisplay the direction angle information of the capsule medical device bydisplaying the character information of any of the pieces of thedirection information 42 c-1 to 42 c-4. In this case, the image displaydevice according to the present information can directly display therelative direction of the capsule medical device with respect to thesubject. Meanwhile, when the body posture of the subject is changed, theimage display device according to the present invention may change thecharacter information to be displayed out of each character informationof pieces of the direction information 42 c-1 to 42 c-4 in response tothe change in the body posture of such a subject.

Also, although the marks 42 a and 42 b of the elevation angleinformation are displayed in the operation target image in theabove-described third to eighth embodiments, the present invention isnot limited to this. FIG. 44 is a schematic diagram showing amodification of the display state of the elevation angle information.The image display device according to the present invention displays abar image 107 indicating the elevation angle information of the capsulemedical device in the vicinity of the side portion of the operationtarget image as shown in FIG. 44, for example. The bar image 107 isbar-type image information including a mark 107 a on an upper end and amark 107 b on a lower end, and is displayed in a state in which acentral portion of the bar is clearly indicated. The image displaydevice according to the present invention longitudinally moves the barimage 107 in the bar-type information display area in response to thechange in the elevation angle of the capsule medical device. The imagedisplay device according to the present invention displays the elevationangle information of the capsule medical device by the display locationof the bar image 107. Specifically, the bar image 107 moves to a lowerportion of the operation target image in association with increase inthe elevation angle of the capsule medical device 2. The mark 107 a onthe upper end side of the bar image 107 moves onto the central line ofthe operation target image when the elevation angle of the capsulemedical device is 90 degrees. On the other hand, the bar image 107 movesto an upper portion of the operation target image in association withdecrease in the elevation angle of the capsule medical device. The mark107 b on the lower end side of the bar image 107 moves onto the centralline of the operation target image when the elevation angle of thecapsule medical device is 0 degree.

Further, the image display device according to the present invention maydisplay the above-described marks 42 d and 42 e in the bar-typeinformation display area formed in the vicinity of the side portion ofthe operation target image, and may longitudinally move the marks 42 dand 42 e in response to change in the elevation angle of the capsulemedical device, as shown in FIG. 44, for example. In this case, theimage display device according to the present invention may alwaysdisplay the marks 42 d and 42 e in such an information display area witha predetermined color (white, for example) regardless of the presence ofthe input of the above-described operation information, and when suchoperation information is input, the image display device may display themark corresponding to the operation information out of the marks 42 dand 42 e with another color (yellow, for example). Meanwhile, the marks42 d and 42 e in such an information display area are displayed so as tobe arranged widthwise with the mark 107 a of the elevation angleinformation interposed therebetween, for example, and are longitudinallymoved as the mark 107 a of the elevation angle information.

Although the imaging direction of the capsule medical device is parallelto the long axis of the capsule casing and the magnetization directionof the capsule medical device is parallel to or perpendicular to thelong axis of the capsule casing in the above-described first to eighthembodiments, the present invention is not limited to this. FIGS. 45A to45D are schematic diagrams each showing a modification of the capsulemedical device floatable on the liquid surface according to the presentinvention. In the capsule medical device according to the presentinvention, the center of gravity may be set so as to maintain theabove-described specific state in the liquid 101 and the capsule medicaldevice may have the magnetization direction in a direction differentfrom the vertical direction in the specific state. Specifically, asshown in FIG. 45A, the capsule medical device floatable on the liquidsurface according to the present invention may be the capsule medicaldevice of type J1 in which the imaging direction is parallel to the longaxis 27 and the magnetization direction D1 of the permanent magnet 26inclines with respect to the long axis 27, or may be the capsule medicaldevice of type J2 in which the imaging direction inclines with respectto the long axis 27 and the magnetization direction D1 of the permanentmagnet 26 is perpendicular to the long axis 27, as shown in FIG. 45B.Alternatively, the capsule medical device floatable on the liquidsurface according to the present invention may be the capsule medicaldevice of type J3 in which the imaging direction and the magnetizationdirection D1 of the permanent magnet 26 incline with respect to the longaxis 27 as shown in FIG. 45C, or may be the capsule medical device oftype J4 in which the imaging direction and the magnetization directionD1 of the permanent magnet 26 is parallel to the long axis 27 as shownin FIG. 45D. Meanwhile, the center of gravity 29 is set on the locationdeviated from the geometric center of the capsule casing in the radialdirection. That is to say, the capsule medical device of type J4 floatson the liquid surface of the liquid 101 in a state in which the longaxis 27 is perpendicular to the vertical direction.

On the other hand, although the capsule medical device floatable on theliquid 101 in the subject 100 is illustrated in the above-describedfirst to eighth embodiments, the present invention is not limited tothis. FIGS. 46A to 46D are schematic diagrams each showing a specificexample of the capsule medical device sinkable under the liquid surfaceaccording to the present invention. In the capsule medical deviceaccording to the present invention, the center of gravity may be set soas to maintain the above-described specific state in the liquid 101, andthe capsule medical device may have the magnetization direction in thedirection different from the vertical direction. Specifically, as shownin FIG. 46A, the capsule medical device sinkable under the liquidsurface according to the present invention may be the capsule medicaldevice of type J5 in which the imaging direction is parallel to the longaxis 27 and the magnetization direction D1 of the permanent magnet 26 isperpendicular to the long axis 27, or may be the capsule medical deviceof type J6 in which the imaging direction is parallel to the long axis27 and the magnetization direction Dl of the permanent magnet 26inclines with respect to the long axis 27 as shown in FIG. 46B.Alternatively, the capsule medical device sinkable under the liquidsurface according to the present invention may be the capsule medicaldevice of type J7 in which the imaging direction and the magnetizationdirection D1 of the permanent magnet 26 incline with respect to the longaxis 27 as shown in FIG. 46C, or the capsule medical device of type J8in which the imaging direction inclines with respect to the long axis 27and the magnetization direction D1 of the permanent magnet 26 isperpendicular to the long axis 27 as shown in FIG. 46D.

Also, although the twin-lens capsule medical device incorporating thetwo imaging units 21 and 22 of which imaging directions are different toeach other is illustrated in the above-described first to eighthembodiments, the present invention is not limited to this, and thecapsule medical device according to the present invention may be amonocular capsule medical device incorporating a unique imaging unit ormay be a polynocular capsule medical device incorporating three or moreimaging units.

Further, although the elevation angle information, the direction angleinformation, and the information indicating that the operationinformation is input of the capsule medical device are displayed bybeing related to the operation target image out of the in-vivo images P1and P2 by the imaging units 21 and 22, respectively in theabove-described third to eighth embodiments, the present invention isnot limited to this, and it is possible to display the elevation angleinformation, the direction angle information, and the informationindicating that the operation information is input of the capsulemedical device, by relating them to each of a plurality of in-vivoimages in the display screen while clearly showing the operation targetimage by the display of the above-described frame image 32 a or thelike. In this case, the direction angle information of the capsulemedical device is displayed so as to indicate the direction of thecapsule medical device different for each imaging direction of thein-vivo images. Also, the information indicating that the operationinformation is input is displayed by different display colors of themark for each imaging direction of the in-vivo images. Specifically, themarks 42 a, 42 b and 62 a displayed in the operation target image aredisplayed with the display color such as blue in response to the inputof the operation information, and the marks 42 a, 42 b and 62 adisplayed in the non-operation target image are displayed with the colordifferent from the mark display color (such as red) in the operationtarget image in response to the input of the operation information.

Also, although the desired in-vivo image data selected from a pluralityof in-vivo images displayed on the display unit is saved in the storageunit in the above-described first to eighth embodiments, the presentinvention may further relate the body posture information of the subjectset by the above-described body posture setting unit 17 f to the in-vivoimage data to save in the storage unit. Thereby, the user can easilyjudge of which side (such as the right side, the left side, the headside, the leg side, the stomach side, and the back side) in the subjectthe in-vivo image read from the storage unit is, and consequently, theuser can easily comprehend the region of the subject now underobservation.

Further, although the operation target image is switched between aplurality of in-vivo images by the input operation of the operationinput unit in the above-described fourth to eighth embodiments, thepresent invention is not limited to this, and the above-describedjoysticks 15 a and 15 b may be provided for each in-vivo imagesimultaneously displayed on the image display device. For example, theoperation input unit according to the present invention may be providedwith a set of the joysticks 15 a and 15 b for operating the magneticguidance of the capsule medical device while referring to the in-vivoimage P1 in the display screen and a set of the joysticks 15 a and 15 bfor operating the magnetic guidance of the capsule medical device whilereferring to the in-vivo image P2. In this case, each set of thejoysticks 15 a ad 15 b may be arranged on a single operation input unitmain body, or may be arranged on separate operation input unit mainbodies.

Also, although the arrow information indicating the magnetic guidancedirection such as the turning direction and the motion direction of thecapsule medical device is displayed on the display unit of the controldevice in the above-described first to eighth embodiments, the presentinvention is not limited to this, and may display the arrow informationindicating such a magnetic guidance direction on the display unit of theimage display device displaying the in-vivo image. In this case, thedisplay unit of the image display device may display the arrowinformation in such a magnetic guidance direction only when theoperation information is input, or may always display the arrowinformation in such a magnetic guidance direction regardless of thepresence of the input of the operation information and change thedisplay color of the arrow information in such a magnetic guidancedirection when the operation information is input. Also, the displayunit of the image display device may display the arrow information inthe magnetic guidance direction so as to be overlapped with the in-vivoimage of the subject, and in this case, it is possible to blink thearrow information of the magnetic guidance direction so as not toprevent the observation of the in-vivo image. Further, the displaylocation of the arrow information in such an in-vivo image may bedetermined in consideration of the distortion of the optical system ofthe capsule medical device.

Further, although the elevation angle and the direction angle (that isto say, the position) of the capsule medical device are calculated basedon the magnetic field direction of the guidance magnetic field or thelike applied to the capsule medical device, which is the magneticguidance target in the above-described first to eighth embodiments, thepresent invention is not limited to this, and the position detector fordetecting the position of the capsule medical device in the absolutecoordinate system may be further provided, and the elevation angle andthe direction angle of the capsule medical device may be calculatedbased on the detection result of the position detector, and theinformation of the calculated elevation angle direction angle may bedisplayed.

Also, although the location of the capsule medical device in the subjectis calculated based on the relative location relation between the bedsupporting the subject and the magnetic field generator in theabove-described first to sixth embodiments, the present invention is notlimited to this, and the location detector for detecting the location ofthe capsule medical device in the subject may be further displayed andthe location information of the capsule medical device in the subjectmay be displayed based on the location detection result of the capsulemedical device by the location detector.

Further, although the capsule medical device is magnetically guided byusing the magnetic field generator for generating the magnetic field,which magnetically captures the capsule medical device in the subject inthe vicinity of the central axis in the above-described first to sixthembodiments, the present invention is not limited to this, and thecapsule medical device in the subject may be magnetically guided byusing the magnetic field generator capable of generating the homogeneousmagnetic field for controlling the position of the capsule medicaldevice and the gradient magnetic field for controlling the location ofthe capsule medical device.

Also, although the body posture of the subject is set by using the bodyposture setting unit and the operation input unit in the above-describedfirst to eighth embodiments, the present invention is not limited tothis, and the above-described control device may detect the body postureof the subject based on the output of a gravity sensor attached to thesubject. In this case, the control device displays the mark in a settingfield of the body posture setting menu conforming to the body detectionresult of the subject, and displays the subject pattern image so as toindicate the body posture conforming to the body posture detectionresult. Meanwhile, the antenna 9 a of the above-described receivingdevice 9 may be provided with such a gravity sensor. In this case, theoutput signal of such a gravity sensor may be input to the image displaydevice and the control device through the receiving device 9.

Further, although the magnetic guidance of the capsule medical device isoperated by the operation of the joysticks 15 a and 15 b in theabove-described first to eighth embodiments, the present invention isnot limited to this, and a plurality of cross-shaped input buttons maybe provided on the operation input unit in place of the joysticks 15 aand 15 b to operate the magnetic guidance of the capsule medical deviceby the operation of such cross-shape input buttons.

Additional advantages and modifications will readily occur to thoseskilled in the art. Therefore, the invention in its broader aspects isnot limited to the specific details and representative embodiments shownand described herein. Accordingly, various modifications may be madewithout departing from the spirit or scope of the general inventiveconcept as defined by the appended claims and their equivalents.

1. A system for guiding capsule medical device comprising: a capsulemedical device comprising: an imaging unit for imaging an in-vivo imageof a subject, and a permanent magnet magnetizing in a known directionrelatively fixed with respect to an upward and downward direction of animaging surface of the imaging unit in a capsule casing, the capsulemedical device having a center of gravity at a location deviated from ageometric center of the capsule casing in a direction parallel to aplane parallel to a magnetization direction of the permanent magnet andan imaging direction of the imaging unit and different from themagnetization direction of the permanent magnet, and the capsule medicaldevice maintaining a specific state in which the magnetization directionof the permanent magnet and the imaging direction of the imaging unitare parallel to a vertical plane in liquid introduced into the subject;a magnetic guidance device that applies a magnetic field to thepermanent magnet to magnetically guide the capsule medical device in theliquid while maintaining the specific state; and an image display deviceconfigured to display on a display screen the in-vivo image byconforming: a direction of an intersection line of the in-vivo imagecorresponding to an intersection line of: the imaging surface of theimaging unit of the capsule medical device maintaining the specificstate, and the vertical plane, to an upward and downward direction ofthe display screen.
 2. The system for guiding capsule medical deviceaccording to claim 1, wherein an upward and downward direction of theimaging surface of the imaging unit is parallel to a plane including themagnetization direction of the permanent magnet, and the image displaydevice conforms the upward and downward direction of the imaging surfaceof the imaging unit to the upward and downward direction of the displayscreen.
 3. The system for guiding capsule medical device according toclaim 1, wherein an upward and downward direction of the imaging surfaceof the imaging unit inclines with respect to a plane including themagnetization direction of the permanent magnet, and the image displaydevice conforms: the direction of the intersection line of the in-vivoimage corresponding to an intersection line of: the imaging surface ofthe imaging unit of the capsule medical device maintaining the specificstate, and the vertical plane, to the upward and downward direction ofthe display screen, based on relative relation between the upward anddownward direction of the imaging surface of the imaging unit and themagnetization direction of the permanent magnet.
 4. The system forguiding capsule medical device according to claim 1, comprising: anoperation input unit that receives operation information to operatemagnetic guidance of the capsule medical device; and a control devicethat controls the magnetic guidance device to magnetically guide thecapsule medical device in response to the operation information inputthrough the operation input unit.
 5. The system for guiding capsulemedical device according to claim 4, wherein the control devicecalculates an angle between the imaging direction of the imaging unitand a vertical axis based on information of the magnetic field appliedto the permanent magnet when the magnetic guidance device magneticallyguides the capsule medical device, physical information of the capsulemedical device, and density information of the liquid, and the imagedisplay device displays angle information indicating the anglecalculated by the control device by relating the angle information tothe in-vivo image.
 6. The system for guiding capsule medical deviceaccording to claim 4, wherein the control device calculates a horizontalcomponent direction of the imaging direction of the imaging unit basedon information of the magnetic field applied to the permanent magnetwhen the magnetic guidance device magnetically guides the capsulemedical device, and the image display device displays directioninformation indicating the horizontal component direction calculated bythe control device by relating the direction information to the in-vivoimage.
 7. The system for guiding capsule medical device according toclaim 4, wherein the control device calculates a horizontal componentdirection of the imaging direction of the imaging unit based oninformation of the magnetic field applied to the permanent magnet whenthe magnetic guidance device magnetically guides the capsule medicaldevice, and the image display device displays information indicatingrelation between the imaging direction of the imaging unit and a regionof the subject based on the horizontal component direction calculated bythe control device.
 8. The system for guiding capsule medical deviceaccording to claim 4, wherein the control device notifies the imagedisplay device that the operation information is input, and the imagedisplay device displays information indicating that the operationinformation is input.
 9. The system for guiding capsule medical deviceaccording to claim 4, wherein the operation information specifies atleast a magnetic guidance direction of the capsule medical device. 10.The system for guiding capsule medical device according to claim 9,wherein the magnetic guidance direction of the capsule medical deviceincludes a rotational direction around a vertical axis, a rotationaldirection around a horizontal axis, a vertical direction, a horizontaldirection, the imaging direction of the imaging unit, the upward anddownward direction of the imaging surface of the imaging unit, and aright and left direction of the imaging surface of the imaging unit. 11.The system for guiding capsule medical device according to claim 1,wherein a central axis of the permanent magnet conforms to a long axisof the capsule casing.